Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 677 * 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 677 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 35 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 24 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 -3 T_GPS_CHARGE -11344.579 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 -11344.579

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 -3

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 35 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 24 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 677 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 030111,165855,6650.562,-5800.413,9,1.3,15,-37.6 TGT_NAME TARGET_E

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 7.75 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 0.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030111,165855,6650.562,-5800.413,9,1.3,15,-37.6 MHEAD_RNG_PITCHd_Wd 103.8,57142,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 770

Post-dive calculations and measurements:

FREEZE 8.81,-1.750,-1.791,2,2,0 ALTIM_BOTTOM_PING 650.2,11.9

FINISH1 8.8,1.026224,63 _24V_AH 21.4,77.930

FINISH2 6.7 _10V_AH 9.7,53.743

RAFOS_CLK 702 FG_AHR_24Vo 0.000

RAFOS 0,1294084882,20.033333,20.022778,51,44,44,42,42,42,26,182,1408,799,1206,148 FG_AHR_10Vo 0.000

RAFOS_FIX 6651.930664,-5758.999023,030111,202028,4,99,0.21 MEM 151648

IRIDIUM_FIX 6631.12,-6110.63,030111,161639 DATA_FILE_SIZE 36653,966

TT8_MAMPS 0.029211 CAP_FILE_SIZE 125007,0

HUMID 47.91 CFSIZE 260165632,204869632

INTERNAL_PRESSURE 8.65115 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.70 SOUNDSPEED 1456.0

XPDR_PINGS 0 GPS 030111,203928,6651.931,-5758.999,0,4099.0,0,-37.6

ALTIM_TOP_PING 19.4,17.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 193 17.60 SBE_CT 673 24 346.01

Roll_motor 112 82 198.33 SBE_O2 0 0 0.00

VBD_pump_during_apogee 355 1002 7623.97 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 24.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2425 19 468.69

LPSleep 7615 2 170.65

TT8_Active 404 19 78.16

TT8_Sampling 1713 39 663.36

TT8_CF8 230 45 102.58

TT8_Kalman 0 0 0.00

Analog_circuits 1336 12 155.51

GPS_charging 0 0 0.00

Compass 1692 15 246.25

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 -6.12 0.000 2 0.000 0.000 2493 3929 2909 0 0 0 0 0 0

28 -0.57 -146.0 8.9 -0.0 1 53 0.57 4.25 -15.00 0.000 4 0.114 0.054 2297 1362 3521 0 0 0 0 0 0

125 -0.60 -146.0 17.4 -10.6 17 131 0.00 2.35 0.00 0.000 6 0.000 0.060 2293 2783 3523 0 0 0 0 0 0

471 -0.64 -146.0 54.8 -9.0 78 478 0.00 2.30 0.00 0.000 4 0.000 0.050 2293 1364 3523 0 0 0 0 0 0

538 -0.70 -146.0 61.2 -8.9 89 545 0.12 2.33 0.00 0.000 6 0.104 0.061 2240 2756 3523 0 0 0 0 0 0

888 -0.66 -146.0 105.3 -12.1 147 892 0.00 1.98 0.00 0.000 4 0.000 0.072 2232 3929 3522 0 0 0 0 0 0

927 -0.62 -146.0 110.5 -12.4 150 935 0.15 1.90 0.00 0.000 6 0.164 0.047 2273 2760 3523 0 0 0 0 0 0

1254 -0.67 -146.0 139.2 -8.7 181 1258 0.00 2.22 0.00 0.000 4 0.000 0.051 2273 1365 3522 0 0 0 0 0 0

1355 -0.74 -146.0 147.9 -8.6 189 1362 0.10 2.33 0.00 0.000 6 0.113 0.061 2230 2756 3522 0 0 0 0 0 0

1681 -0.70 -146.0 183.7 -11.1 220 1682 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2756 3522 0 0 0 0 0 0

2001 -0.67 -146.0 218.1 -10.5 250 2005 0.00 2.22 0.00 0.000 4 0.000 0.050 2230 1369 3523 0 0 0 0 0 0

2029 -0.65 -146.0 221.4 -10.7 252 2036 0.12 2.33 0.00 0.000 6 0.180 0.061 2262 2760 3523 0 0 0 0 0 0

2355 -0.68 -146.0 249.5 -8.7 283 2359 0.00 2.25 0.00 0.000 4 0.000 0.050 2262 1368 3523 0 0 0 0 0 0

2400 -0.73 -146.0 253.7 -8.9 286 2407 0.00 2.30 0.00 0.000 6 0.000 0.060 2259 2745 3523 0 0 0 0 0 0

2726 -0.77 -146.0 282.6 -9.0 317 2730 0.00 2.20 0.00 0.000 4 0.000 0.050 2259 1366 3523 0 0 0 0 0 0

2750 -0.80 -146.0 284.8 -8.9 318 2757 0.12 2.30 0.00 0.000 6 0.102 0.060 2203 2745 3523 0 0 0 0 0 0

3076 -0.73 -146.0 324.2 -12.0 349 3080 0.12 2.03 0.00 0.000 4 0.184 0.071 2228 3935 3523 0 0 0 0 0 0

3121 -0.73 -146.0 329.3 -11.1 353 3125 0.00 1.92 0.00 0.000 6 0.000 0.047 2228 2750 3523 0 0 0 0 0 0

3452 -0.70 -146.0 363.7 -10.6 384 3456 0.00 2.22 0.00 0.000 4 0.000 0.050 2228 1361 3523 0 0 0 0 0 0

3482 -0.70 -146.0 366.9 -11.4 386 3486 0.00 2.30 0.00 0.000 6 0.000 0.060 2222 2753 3523 0 0 0 0 0 0

3817 -0.67 -146.0 403.6 -11.0 415 3819 0.12 0.00 0.00 0.000 6 0.181 0.000 2255 2753 3523 0 0 0 0 0 0

4124 -0.71 -146.0 429.9 -8.3 425 4128 0.00 1.98 0.00 0.000 4 0.000 0.071 2249 3928 3523 0 0 0 0 0 0

4152 -0.74 -146.0 432.6 -9.0 425 4159 0.00 1.92 0.00 0.000 6 0.000 0.047 2249 2746 3523 0 0 0 0 0 0

4466 -0.76 -146.0 460.8 -9.1 436 4470 0.00 2.20 0.00 0.000 4 0.000 0.049 2249 1370 3523 0 0 0 0 0 0

4496 -0.80 -146.0 463.6 -9.3 437 4500 0.00 2.30 0.00 0.000 6 0.000 0.060 2247 2760 3523 0 0 0 0 0 0

4833 -0.82 -146.0 493.8 -8.9 448 4834 0.10 0.00 0.00 0.000 6 0.121 0.000 2201 2760 3523 0 0 0 0 0 0

5139 -0.76 -146.0 529.5 -11.9 458 5141 0.12 0.00 0.00 0.000 6 0.178 0.000 2233 2760 3523 0 0 0 0 0 0

5444 -0.76 -146.0 559.2 -9.4 468 5448 0.00 2.22 0.00 0.000 4 0.000 0.051 2233 1372 3523 0 0 0 0 0 0

5474 -0.76 -146.0 562.0 -9.2 469 5478 0.00 2.30 0.00 0.000 6 0.000 0.061 2233 2758 3523 0 0 0 0 0 0

5810 -0.76 -146.0 593.7 -9.6 480 5811 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2757 3522 0 0 0 0 0 0

6115 -0.76 -146.0 623.6 -9.7 490 6116 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2758 3523 0 0 0 0 0 0

6391 end dive: BOTTOM_OBSTACLE_DETECTED

state 6391 begin apogee

6398 -0.14 0.0 650.2 9.7 499 6529 0.57 0.00 124.62 1.003 4 0.134 0.000 2421 2601 2923 0 0 0 0 0 0

6530 end apogee: CONTROL_FINISHED_OK

state 6530 begin climb

6533 0.57 146.0 655.3 0.0 503 6672 0.68 2.45 131.90 0.977 4 0.066 0.050 2660 1183 2327 0 0 0 0 0 0

6813 0.57 152.7 635.0 9.7 511 6824 0.00 2.50 6.30 0.778 6 0.000 0.055 2660 2607 2300 0 0 0 0 0 0

7148 0.54 152.7 599.0 11.0 522 7152 0.00 2.33 0.00 0.000 4 0.000 0.052 2661 1187 2295 0 0 0 0 0 0

7383 0.54 152.7 573.5 10.1 529 7387 0.00 2.33 0.00 0.000 6 0.000 0.057 2661 2606 2295 0 0 0 0 0 0

7719 0.50 152.7 536.2 11.2 540 7723 0.00 2.20 0.00 0.000 4 0.000 0.067 2662 3926 2293 0 0 0 0 0 0

7765 0.40 152.7 530.2 13.5 541 7770 0.20 2.12 0.00 0.000 6 0.194 0.045 2611 2601 2292 0 0 0 0 0 0

8085 0.49 197.3 504.0 7.9 552 8131 0.00 2.38 39.05 0.904 4 0.000 0.068 2610 3935 2117 0 0 0 0 0 0

8150 0.56 224.6 498.5 8.7 554 8181 0.15 2.17 25.25 0.877 6 0.092 0.044 2675 2611 2007 0 0 0 0 0 0

8511 0.56 224.6 454.9 12.1 566 8515 0.00 2.28 0.00 0.000 4 0.000 0.053 2676 1191 1998 0 0 0 0 0 0

8540 0.56 224.6 451.4 12.3 567 8544 0.00 2.33 0.00 0.000 6 0.000 0.056 2676 2618 1998 0 0 0 0 0 0

8875 0.56 224.6 408.0 13.2 578 8876 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2618 1996 0 0 0 0 0 0

9191 0.56 224.6 366.1 13.1 604 9193 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2618 1996 0 0 0 0 0 0

9512 0.56 224.6 322.8 13.4 634 9517 0.00 2.30 0.00 0.000 4 0.000 0.054 2676 1188 1996 0 0 0 0 0 0

9542 0.59 224.6 318.7 12.7 636 9546 0.00 2.33 0.00 0.000 6 0.000 0.057 2676 2615 1996 0 0 0 0 0 0

9867 0.59 224.6 277.1 12.3 666 9871 0.00 2.17 0.00 0.000 4 0.000 0.067 2675 3925 1995 0 0 0 0 0 0

9891 0.57 224.6 273.9 14.2 667 9898 0.00 2.12 0.00 0.000 6 0.000 0.044 2677 2611 1993 0 0 0 0 0 0

10216 0.57 224.6 233.2 12.0 698 10220 0.00 2.30 0.00 0.000 4 0.000 0.053 2677 1180 1994 0 0 0 0 0 0

10255 0.61 224.6 228.8 11.4 701 10262 0.00 2.33 0.00 0.000 6 0.000 0.056 2677 2614 1993 0 0 0 0 0 0

10581 0.61 224.6 192.4 11.5 732 10585 0.00 2.20 0.00 0.000 4 0.000 0.067 2677 3927 1994 0 0 0 0 0 0

10630 0.58 224.6 185.7 13.2 736 10637 0.00 2.12 0.00 0.000 6 0.000 0.045 2679 2614 1993 0 0 0 0 0 0

10957 0.58 224.6 146.8 12.1 767 10961 0.00 2.28 0.00 0.000 4 0.000 0.052 2679 1186 1993 0 0 0 0 0 0

10997 0.63 224.6 142.1 11.0 770 11001 0.00 2.33 0.00 0.000 6 0.000 0.056 2679 2616 1993 0 0 0 0 0 0

11323 0.63 224.6 105.9 10.5 800 11327 0.00 2.30 0.00 0.000 4 0.000 0.053 2679 1188 1993 0 0 0 0 0 0

11363 0.69 224.6 101.7 10.2 803 11367 0.00 2.38 0.00 0.000 6 0.000 0.056 2679 2634 1993 0 0 0 0 0 0

11707 0.72 224.6 66.6 10.4 861 11713 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2634 1993 0 0 0 0 0 0

12053 0.81 259.0 35.7 8.4 922 12089 0.15 2.38 28.10 0.636 4 0.100 0.052 2745 1182 1867 0 0 0 0 0 0

12143 0.81 259.0 25.8 12.4 937 12150 0.00 2.35 0.00 0.000 6 0.000 0.056 2744 2603 1864 0 0 0 0 0 0

12282 end climb: FINISH_DEPTH_REACHED

state 12282 begin subsurface finish

12289 0.04 62.6 8.8 -12.2 961 12320 0.82 2.33 -24.65 0.000 4 0.155 0.083 2494 3925 2670 0 0 0 0 0 0

12321 end subsurface finish: CONTROL_FINISHED_OK

state 12321 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	677	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	35	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	24	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	-3	T_GPS_CHARGE	-11344.579	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	030111,165855,6650.562,-5800.413,9,1.3,15,-37.6	TGT_NAME	TARGET_E
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	7.75	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	0.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030111,165855,6650.562,-5800.413,9,1.3,15,-37.6	MHEAD_RNG_PITCHd_Wd	103.8,57142,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	770

FREEZE	8.81,-1.750,-1.791,2,2,0	ALTIM_BOTTOM_PING	650.2,11.9
FINISH1	8.8,1.026224,63	_24V_AH	21.4,77.930
FINISH2	6.7	_10V_AH	9.7,53.743
RAFOS_CLK	702	FG_AHR_24Vo	0.000
RAFOS	0,1294084882,20.033333,20.022778,51,44,44,42,42,42,26,182,1408,799,1206,148	FG_AHR_10Vo	0.000
RAFOS_FIX	6651.930664,-5758.999023,030111,202028,4,99,0.21	MEM	151648
IRIDIUM_FIX	6631.12,-6110.63,030111,161639	DATA_FILE_SIZE	36653,966
TT8_MAMPS	0.029211	CAP_FILE_SIZE	125007,0
HUMID	47.91	CFSIZE	260165632,204869632
INTERNAL_PRESSURE	8.65115	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.70	SOUNDSPEED	1456.0
XPDR_PINGS	0	GPS	030111,203928,6651.931,-5758.999,0,4099.0,0,-37.6
ALTIM_TOP_PING	19.4,17.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	193	17.60	SBE_CT	673	24	346.01
Roll_motor	112	82	198.33	SBE_O2	0	0	0.00
VBD_pump_during_apogee	355	1002	7623.97	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	24.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2425	19	468.69
LPSleep	7615	2	170.65
TT8_Active	404	19	78.16
TT8_Sampling	1713	39	663.36
TT8_CF8	230	45	102.58
TT8_Kalman	0	0	0.00
Analog_circuits	1336	12	155.51
GPS_charging	0	0	0.00
Compass	1692	15	246.25
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	-6.12	0.000	2	0.000	0.000	2493	3929	2909	0	0	0	0	0	0
28	-0.57	-146.0	8.9	-0.0	1	53	0.57	4.25	-15.00	0.000	4	0.114	0.054	2297	1362	3521	0	0	0	0	0	0
125	-0.60	-146.0	17.4	-10.6	17	131	0.00	2.35	0.00	0.000	6	0.000	0.060	2293	2783	3523	0	0	0	0	0	0
471	-0.64	-146.0	54.8	-9.0	78	478	0.00	2.30	0.00	0.000	4	0.000	0.050	2293	1364	3523	0	0	0	0	0	0
538	-0.70	-146.0	61.2	-8.9	89	545	0.12	2.33	0.00	0.000	6	0.104	0.061	2240	2756	3523	0	0	0	0	0	0
888	-0.66	-146.0	105.3	-12.1	147	892	0.00	1.98	0.00	0.000	4	0.000	0.072	2232	3929	3522	0	0	0	0	0	0
927	-0.62	-146.0	110.5	-12.4	150	935	0.15	1.90	0.00	0.000	6	0.164	0.047	2273	2760	3523	0	0	0	0	0	0
1254	-0.67	-146.0	139.2	-8.7	181	1258	0.00	2.22	0.00	0.000	4	0.000	0.051	2273	1365	3522	0	0	0	0	0	0
1355	-0.74	-146.0	147.9	-8.6	189	1362	0.10	2.33	0.00	0.000	6	0.113	0.061	2230	2756	3522	0	0	0	0	0	0
1681	-0.70	-146.0	183.7	-11.1	220	1682	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2756	3522	0	0	0	0	0	0
2001	-0.67	-146.0	218.1	-10.5	250	2005	0.00	2.22	0.00	0.000	4	0.000	0.050	2230	1369	3523	0	0	0	0	0	0
2029	-0.65	-146.0	221.4	-10.7	252	2036	0.12	2.33	0.00	0.000	6	0.180	0.061	2262	2760	3523	0	0	0	0	0	0
2355	-0.68	-146.0	249.5	-8.7	283	2359	0.00	2.25	0.00	0.000	4	0.000	0.050	2262	1368	3523	0	0	0	0	0	0
2400	-0.73	-146.0	253.7	-8.9	286	2407	0.00	2.30	0.00	0.000	6	0.000	0.060	2259	2745	3523	0	0	0	0	0	0
2726	-0.77	-146.0	282.6	-9.0	317	2730	0.00	2.20	0.00	0.000	4	0.000	0.050	2259	1366	3523	0	0	0	0	0	0
2750	-0.80	-146.0	284.8	-8.9	318	2757	0.12	2.30	0.00	0.000	6	0.102	0.060	2203	2745	3523	0	0	0	0	0	0
3076	-0.73	-146.0	324.2	-12.0	349	3080	0.12	2.03	0.00	0.000	4	0.184	0.071	2228	3935	3523	0	0	0	0	0	0
3121	-0.73	-146.0	329.3	-11.1	353	3125	0.00	1.92	0.00	0.000	6	0.000	0.047	2228	2750	3523	0	0	0	0	0	0
3452	-0.70	-146.0	363.7	-10.6	384	3456	0.00	2.22	0.00	0.000	4	0.000	0.050	2228	1361	3523	0	0	0	0	0	0
3482	-0.70	-146.0	366.9	-11.4	386	3486	0.00	2.30	0.00	0.000	6	0.000	0.060	2222	2753	3523	0	0	0	0	0	0
3817	-0.67	-146.0	403.6	-11.0	415	3819	0.12	0.00	0.00	0.000	6	0.181	0.000	2255	2753	3523	0	0	0	0	0	0
4124	-0.71	-146.0	429.9	-8.3	425	4128	0.00	1.98	0.00	0.000	4	0.000	0.071	2249	3928	3523	0	0	0	0	0	0
4152	-0.74	-146.0	432.6	-9.0	425	4159	0.00	1.92	0.00	0.000	6	0.000	0.047	2249	2746	3523	0	0	0	0	0	0
4466	-0.76	-146.0	460.8	-9.1	436	4470	0.00	2.20	0.00	0.000	4	0.000	0.049	2249	1370	3523	0	0	0	0	0	0
4496	-0.80	-146.0	463.6	-9.3	437	4500	0.00	2.30	0.00	0.000	6	0.000	0.060	2247	2760	3523	0	0	0	0	0	0
4833	-0.82	-146.0	493.8	-8.9	448	4834	0.10	0.00	0.00	0.000	6	0.121	0.000	2201	2760	3523	0	0	0	0	0	0
5139	-0.76	-146.0	529.5	-11.9	458	5141	0.12	0.00	0.00	0.000	6	0.178	0.000	2233	2760	3523	0	0	0	0	0	0
5444	-0.76	-146.0	559.2	-9.4	468	5448	0.00	2.22	0.00	0.000	4	0.000	0.051	2233	1372	3523	0	0	0	0	0	0
5474	-0.76	-146.0	562.0	-9.2	469	5478	0.00	2.30	0.00	0.000	6	0.000	0.061	2233	2758	3523	0	0	0	0	0	0
5810	-0.76	-146.0	593.7	-9.6	480	5811	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2757	3522	0	0	0	0	0	0
6115	-0.76	-146.0	623.6	-9.7	490	6116	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2758	3523	0	0	0	0	0	0
6391	end dive: BOTTOM_OBSTACLE_DETECTED
state	6391	begin apogee
6398	-0.14	0.0	650.2	9.7	499	6529	0.57	0.00	124.62	1.003	4	0.134	0.000	2421	2601	2923	0	0	0	0	0	0
6530	end apogee: CONTROL_FINISHED_OK
state	6530	begin climb
6533	0.57	146.0	655.3	0.0	503	6672	0.68	2.45	131.90	0.977	4	0.066	0.050	2660	1183	2327	0	0	0	0	0	0
6813	0.57	152.7	635.0	9.7	511	6824	0.00	2.50	6.30	0.778	6	0.000	0.055	2660	2607	2300	0	0	0	0	0	0
7148	0.54	152.7	599.0	11.0	522	7152	0.00	2.33	0.00	0.000	4	0.000	0.052	2661	1187	2295	0	0	0	0	0	0
7383	0.54	152.7	573.5	10.1	529	7387	0.00	2.33	0.00	0.000	6	0.000	0.057	2661	2606	2295	0	0	0	0	0	0
7719	0.50	152.7	536.2	11.2	540	7723	0.00	2.20	0.00	0.000	4	0.000	0.067	2662	3926	2293	0	0	0	0	0	0
7765	0.40	152.7	530.2	13.5	541	7770	0.20	2.12	0.00	0.000	6	0.194	0.045	2611	2601	2292	0	0	0	0	0	0
8085	0.49	197.3	504.0	7.9	552	8131	0.00	2.38	39.05	0.904	4	0.000	0.068	2610	3935	2117	0	0	0	0	0	0
8150	0.56	224.6	498.5	8.7	554	8181	0.15	2.17	25.25	0.877	6	0.092	0.044	2675	2611	2007	0	0	0	0	0	0
8511	0.56	224.6	454.9	12.1	566	8515	0.00	2.28	0.00	0.000	4	0.000	0.053	2676	1191	1998	0	0	0	0	0	0
8540	0.56	224.6	451.4	12.3	567	8544	0.00	2.33	0.00	0.000	6	0.000	0.056	2676	2618	1998	0	0	0	0	0	0
8875	0.56	224.6	408.0	13.2	578	8876	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2618	1996	0	0	0	0	0	0
9191	0.56	224.6	366.1	13.1	604	9193	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2618	1996	0	0	0	0	0	0
9512	0.56	224.6	322.8	13.4	634	9517	0.00	2.30	0.00	0.000	4	0.000	0.054	2676	1188	1996	0	0	0	0	0	0
9542	0.59	224.6	318.7	12.7	636	9546	0.00	2.33	0.00	0.000	6	0.000	0.057	2676	2615	1996	0	0	0	0	0	0
9867	0.59	224.6	277.1	12.3	666	9871	0.00	2.17	0.00	0.000	4	0.000	0.067	2675	3925	1995	0	0	0	0	0	0
9891	0.57	224.6	273.9	14.2	667	9898	0.00	2.12	0.00	0.000	6	0.000	0.044	2677	2611	1993	0	0	0	0	0	0
10216	0.57	224.6	233.2	12.0	698	10220	0.00	2.30	0.00	0.000	4	0.000	0.053	2677	1180	1994	0	0	0	0	0	0
10255	0.61	224.6	228.8	11.4	701	10262	0.00	2.33	0.00	0.000	6	0.000	0.056	2677	2614	1993	0	0	0	0	0	0
10581	0.61	224.6	192.4	11.5	732	10585	0.00	2.20	0.00	0.000	4	0.000	0.067	2677	3927	1994	0	0	0	0	0	0
10630	0.58	224.6	185.7	13.2	736	10637	0.00	2.12	0.00	0.000	6	0.000	0.045	2679	2614	1993	0	0	0	0	0	0
10957	0.58	224.6	146.8	12.1	767	10961	0.00	2.28	0.00	0.000	4	0.000	0.052	2679	1186	1993	0	0	0	0	0	0
10997	0.63	224.6	142.1	11.0	770	11001	0.00	2.33	0.00	0.000	6	0.000	0.056	2679	2616	1993	0	0	0	0	0	0
11323	0.63	224.6	105.9	10.5	800	11327	0.00	2.30	0.00	0.000	4	0.000	0.053	2679	1188	1993	0	0	0	0	0	0
11363	0.69	224.6	101.7	10.2	803	11367	0.00	2.38	0.00	0.000	6	0.000	0.056	2679	2634	1993	0	0	0	0	0	0
11707	0.72	224.6	66.6	10.4	861	11713	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2634	1993	0	0	0	0	0	0
12053	0.81	259.0	35.7	8.4	922	12089	0.15	2.38	28.10	0.636	4	0.100	0.052	2745	1182	1867	0	0	0	0	0	0
12143	0.81	259.0	25.8	12.4	937	12150	0.00	2.35	0.00	0.000	6	0.000	0.056	2744	2603	1864	0	0	0	0	0	0
12282	end climb: FINISH_DEPTH_REACHED
state	12282	begin subsurface finish
12289	0.04	62.6	8.8	-12.2	961	12320	0.82	2.33	-24.65	0.000	4	0.155	0.083	2494	3925	2670	0	0	0	0	0	0
12321	end subsurface finish: CONTROL_FINISHED_OK
state	12321	begin surface