Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 695 * 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 695 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 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 609.0799 R_PORT_OVSHOOT 36 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 30 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 -11364.271 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 5 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 -11364.271

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 36 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 30 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 695 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 060111,074425,6702.040,-5659.059,37,1.1,37,-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 1.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060111,080319,6701.989,-5659.087,12,1.5,12,-37.6 MHEAD_RNG_PITCHd_Wd 114.4,8223,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 655

Post-dive calculations and measurements:

FREEZE 1.01,1.774,-1.824,0,1,0 ALTIM_TOP_PING 20.0,18.1

FINISH 1.0,1.026595 ALTIM_BOTTOM_PING 650.8,14.2

SM_CCo 12965,208.20,0.081,0,0,440,609.08 _24V_AH 21.8,79.932

SM_GC 1.73,0.00,0.00,208.20,0.000,0.000,0.081,293,2814,440,-6.81,0.96,609.08 _10V_AH 9.8,54.946

RAFOS_CLK 640 FG_AHR_24Vo 0.000

RAFOS 1,1294301344,8.166667,8.151111,49,46,44,44,43,39,1375,291,434,785,1788,1400 FG_AHR_10Vo 0.000

RAFOS_FIX 6705.925781,-5700.966309,060111,080856,2,90,2.84 MEM 151692

IRIDIUM_FIX 6636.54,-5638.47,060111,070727 DATA_FILE_SIZE 36680,1036

TT8_MAMPS 0.028462 CAP_FILE_SIZE 147123,0

HUMID 46.02 CFSIZE 260165632,203776000

INTERNAL_PRESSURE 8.53396 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.10 SOUNDSPEED 1469.1

XPDR_PINGS 0 GPS 060111,114500,6702.122,-5655.037,39,1.2,39,-37.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 243 94.80 SBE_CT 714 24 373.97

Roll_motor 104 68 157.03 SBE_O2 0 0 0.00

VBD_pump_during_apogee 358 977 7638.12 nil 0 0 0.00

VBD_pump_during_surface 208 81 368.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 131.19 nil 0 0 0.00

Iridium_during_connect 62 160 219.35 nil 0 0 0.00

Iridium_during_xfer 538 223 2618.02 nil 0 0 0.00

Transponder_ping 2 420 22.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.26

TT8 2576 19 502.99

LPSleep 7974 2 180.52

TT8_Active 685 19 133.91

TT8_Sampling 2461 39 963.04

TT8_CF8 617 45 277.69

TT8_Kalman 0 0 0.00

Analog_circuits 1694 12 199.31

GPS_charging 0 0 0.00

Compass 1814 15 266.80

RAFOS 2160 3 63.50

Transponder 19 30 5.72

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.57 -146.0 0.0 0.0 0 165 0.00 0.00 -141.65 0.000 2 0.000 0.000 278 2788 3452 0 0 0 0 0 0

168 -0.57 -146.0 5.1 -11.8 25 187 8.45 2.30 -1.40 0.000 4 0.243 0.057 2282 1369 3522 0 0 0 0 0 0

322 -0.61 -146.0 33.4 -10.0 51 328 0.00 2.33 0.00 0.000 6 0.000 0.058 2276 2773 3522 0 0 0 0 0 0

668 -0.61 -146.0 72.7 -12.1 112 674 0.00 2.22 0.00 0.000 4 0.000 0.047 2276 1368 3522 0 0 0 0 0 0

711 -0.64 -146.0 77.3 -10.9 119 718 0.00 2.33 0.00 0.000 6 0.000 0.058 2275 2771 3521 0 0 0 0 0 0

1051 -0.66 -146.0 110.5 -10.2 170 1055 0.00 1.92 0.00 0.000 4 0.000 0.069 2272 3927 3522 0 0 0 0 0 0

1120 -0.70 -146.0 117.6 -10.4 176 1124 0.00 1.88 0.00 0.000 6 0.000 0.045 2272 2778 3522 0 0 0 0 0 0

1452 -0.74 -146.0 150.1 -10.1 207 1457 0.10 2.22 0.00 0.000 4 0.113 0.047 2224 1373 3522 0 0 0 0 0 0

1504 -0.69 -146.0 156.6 -13.3 211 1508 0.00 2.30 0.00 0.000 6 0.000 0.059 2222 2770 3522 0 0 0 0 0 0

1838 -0.64 -146.0 197.9 -11.4 242 1842 0.15 1.98 0.00 0.000 4 0.170 0.068 2257 3928 3522 0 0 0 0 0 0

1906 -0.67 -146.0 204.7 -8.8 248 1910 0.00 1.88 0.00 0.000 6 0.000 0.045 2257 2778 3523 0 0 0 0 0 0

2241 -0.69 -146.0 232.9 -8.5 279 2245 0.00 2.22 0.00 0.000 4 0.000 0.046 2256 1363 3522 0 0 0 0 0 0

2264 -0.71 -146.0 235.4 -9.3 280 2270 0.00 2.35 0.00 0.000 6 0.000 0.057 2250 2784 3522 0 0 0 0 0 0

2589 -0.71 -146.0 267.4 -10.4 311 2593 0.00 1.90 0.00 0.000 4 0.000 0.068 2247 3928 3523 0 0 0 0 0 0

2614 -0.71 -146.0 270.0 -10.8 313 2618 0.00 1.83 0.00 0.000 6 0.000 0.044 2247 2775 3523 0 0 0 0 0 0

2946 -0.71 -146.0 303.2 -9.0 344 2948 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2775 3523 0 0 0 0 0 0

3264 -0.71 -146.0 332.3 -9.8 374 3268 0.00 2.22 0.00 0.000 4 0.000 0.045 2247 1364 3524 0 0 0 0 0 0

3313 -0.75 -146.0 336.5 -9.3 378 3317 0.00 2.33 0.00 0.000 6 0.000 0.056 2247 2786 3524 0 0 0 0 0 0

3638 -0.75 -146.0 367.4 -8.9 408 3642 0.00 1.90 0.00 0.000 4 0.000 0.067 2247 3929 3525 0 0 0 0 0 0

3679 -0.77 -146.0 371.2 -9.6 411 3685 0.00 1.83 0.00 0.000 6 0.000 0.043 2247 2774 3525 0 0 0 0 0 0

4005 -0.77 -146.0 399.6 -9.1 442 4010 0.00 2.20 0.00 0.000 4 0.000 0.045 2247 1369 3525 0 0 0 0 0 0

4027 -0.79 -146.0 402.0 -9.7 443 4032 0.00 2.33 0.00 0.000 6 0.000 0.056 2247 2790 3526 0 0 0 0 0 0

4342 -0.79 -146.0 427.2 -7.5 453 4346 0.00 2.25 0.00 0.000 4 0.000 0.044 2246 1365 3526 0 0 0 0 0 0

4371 -0.81 -146.0 429.9 -9.2 454 4375 0.00 2.33 0.00 0.000 6 0.000 0.056 2247 2787 3526 0 0 0 0 0 0

4708 -0.81 -146.0 458.9 -8.9 465 4712 0.00 2.22 0.00 0.000 4 0.000 0.045 2247 1373 3526 0 0 0 0 0 0

4752 -0.85 -146.0 463.3 -9.3 466 4757 0.15 2.28 0.00 0.000 6 0.085 0.057 2178 2764 3526 0 0 0 0 0 0

5072 -0.74 -146.0 504.7 -13.4 477 5077 0.20 2.22 0.00 0.000 4 0.168 0.044 2233 1365 3526 0 0 0 0 0 0

5111 -0.74 -146.0 509.2 -9.2 478 5115 0.00 2.28 0.00 0.000 6 0.000 0.057 2233 2755 3526 0 0 0 0 0 0

5435 -0.74 -146.0 538.7 -9.0 489 5436 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2755 3527 0 0 0 0 0 0

5742 -0.74 -146.0 566.6 -9.0 499 5743 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2755 3526 0 0 0 0 0 0

6048 -0.74 -146.0 594.1 -8.9 509 6052 0.00 2.20 0.00 0.000 4 0.000 0.047 2233 1374 3526 0 0 0 0 0 0

6075 -0.74 -146.0 596.7 -8.4 509 6082 0.00 2.25 0.00 0.000 6 0.000 0.057 2233 2747 3527 0 0 0 0 0 0

6390 -0.74 -146.0 621.4 -8.2 520 6393 0.00 1.98 0.00 0.000 4 0.000 0.067 2228 3929 3527 0 0 0 0 0 0

6440 -0.74 -146.0 626.2 -9.1 521 6444 0.00 1.88 0.00 0.000 6 0.000 0.044 2228 2754 3527 0 0 0 0 0 0

6703 end dive: BOTTOM_OBSTACLE_DETECTED

state 6703 begin apogee

6710 -0.14 0.0 650.8 9.4 530 6841 0.60 0.00 124.53 0.978 4 0.129 0.000 2424 2599 2923 0 0 0 0 0 0

6842 end apogee: CONTROL_FINISHED_OK

state 6842 begin climb

6845 0.57 146.0 655.0 0.0 534 6986 0.68 2.38 129.80 0.958 4 0.060 0.047 2671 1185 2326 0 0 0 0 0 0

7166 0.54 146.0 625.6 11.0 544 7170 0.00 2.38 0.00 0.000 6 0.000 0.052 2671 2609 2318 0 0 0 0 0 0

7496 0.48 146.0 584.8 12.6 555 7501 0.15 2.28 0.00 0.000 4 0.187 0.049 2636 1191 2314 0 0 0 0 0 0

7727 0.53 164.0 561.7 9.2 561 7748 0.00 2.30 14.25 0.877 6 0.000 0.054 2635 2614 2255 0 0 0 0 0 0

8073 0.53 164.0 525.6 10.7 573 8077 0.00 2.20 0.00 0.000 4 0.000 0.064 2635 3930 2252 0 0 0 0 0 0

8117 0.48 164.0 519.8 13.3 574 8121 0.00 2.12 0.00 0.000 6 0.000 0.042 2639 2605 2251 0 0 0 0 0 0

8442 0.48 164.0 484.9 11.0 585 8446 0.00 2.25 0.00 0.000 4 0.000 0.050 2639 1183 2251 0 0 0 0 0 0

8463 0.48 164.0 482.2 11.0 585 8467 0.00 2.30 0.00 0.000 6 0.000 0.053 2639 2614 2251 0 0 0 0 0 0

8782 0.48 164.0 448.6 10.5 596 8786 0.00 2.17 0.00 0.000 4 0.000 0.064 2639 3925 2250 0 0 0 0 0 0

8827 0.44 164.0 443.2 12.3 597 8831 0.00 2.08 0.00 0.000 6 0.000 0.042 2645 2620 2249 0 0 0 0 0 0

9156 0.44 164.0 407.2 10.9 608 9160 0.00 2.20 0.00 0.000 4 0.000 0.065 2645 3923 2249 0 0 0 0 0 0

9190 0.38 164.0 402.7 13.3 609 9194 0.17 2.08 0.00 0.000 6 0.185 0.041 2603 2625 2248 0 0 0 0 0 0

9520 0.46 180.6 373.9 9.2 637 9540 0.00 0.00 15.32 0.791 6 0.000 0.000 2603 2625 2185 0 0 0 0 0 0

9859 0.54 180.6 340.5 10.0 669 9863 0.15 2.20 0.00 0.000 4 0.090 0.064 2672 3932 2183 0 0 0 0 0 0

9880 0.54 180.6 337.4 13.4 670 9887 0.00 2.08 0.00 0.000 6 0.000 0.041 2677 2630 2182 0 0 0 0 0 0

10206 0.49 180.6 290.3 12.7 701 10208 0.15 0.00 0.00 0.000 6 0.184 0.000 2637 2630 2182 0 0 0 0 0 0

10524 0.52 180.6 257.1 11.1 731 10525 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2630 2182 0 0 0 0 0 0

10845 0.54 180.6 223.2 10.4 761 10851 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2630 2182 0 0 0 0 0 0

11173 0.58 180.6 187.1 10.2 792 11176 0.00 2.15 0.00 0.000 4 0.000 0.063 2637 3925 2182 0 0 0 0 0 0

11224 0.58 180.6 181.2 11.6 796 11231 0.00 2.05 0.00 0.000 6 0.000 0.040 2637 2635 2182 0 0 0 0 0 0

11550 0.63 198.4 150.6 9.2 827 11574 0.12 2.30 16.00 0.652 4 0.100 0.046 2694 1184 2114 0 0 0 0 0 0

11588 0.60 198.4 146.6 11.5 830 11592 0.00 2.35 0.00 0.000 6 0.000 0.050 2694 2647 2113 0 0 0 0 0 0

11915 0.55 198.4 107.7 11.6 860 11917 0.15 0.00 0.00 0.000 6 0.180 0.000 2653 2647 2112 0 0 0 0 0 0

12247 0.61 216.5 75.0 9.2 913 12265 0.00 0.00 16.45 0.617 6 0.000 0.000 2653 2647 2039 0 0 0 0 0 0

12607 0.71 266.0 45.3 7.7 976 12655 0.15 0.00 42.03 0.601 6 0.091 0.000 2717 2647 1837 0 0 0 0 0 0

12929 end climb: SURFACE_DEPTH_REACHED

state 12929 begin surface coast

12946 end surface coast: CONTROL_FINISHED_OK

state 12947 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	695	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	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	609.0799	R_PORT_OVSHOOT	36	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	30	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	-11364.271	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	060111,074425,6702.040,-5659.059,37,1.1,37,-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	1.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060111,080319,6701.989,-5659.087,12,1.5,12,-37.6	MHEAD_RNG_PITCHd_Wd	114.4,8223,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	655

FREEZE	1.01,1.774,-1.824,0,1,0	ALTIM_TOP_PING	20.0,18.1
FINISH	1.0,1.026595	ALTIM_BOTTOM_PING	650.8,14.2
SM_CCo	12965,208.20,0.081,0,0,440,609.08	_24V_AH	21.8,79.932
SM_GC	1.73,0.00,0.00,208.20,0.000,0.000,0.081,293,2814,440,-6.81,0.96,609.08	_10V_AH	9.8,54.946
RAFOS_CLK	640	FG_AHR_24Vo	0.000
RAFOS	1,1294301344,8.166667,8.151111,49,46,44,44,43,39,1375,291,434,785,1788,1400	FG_AHR_10Vo	0.000
RAFOS_FIX	6705.925781,-5700.966309,060111,080856,2,90,2.84	MEM	151692
IRIDIUM_FIX	6636.54,-5638.47,060111,070727	DATA_FILE_SIZE	36680,1036
TT8_MAMPS	0.028462	CAP_FILE_SIZE	147123,0
HUMID	46.02	CFSIZE	260165632,203776000
INTERNAL_PRESSURE	8.53396	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.10	SOUNDSPEED	1469.1
XPDR_PINGS	0	GPS	060111,114500,6702.122,-5655.037,39,1.2,39,-37.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	243	94.80	SBE_CT	714	24	373.97
Roll_motor	104	68	157.03	SBE_O2	0	0	0.00
VBD_pump_during_apogee	358	977	7638.12	nil	0	0	0.00
VBD_pump_during_surface	208	81	368.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	131.19	nil	0	0	0.00
Iridium_during_connect	62	160	219.35	nil	0	0	0.00
Iridium_during_xfer	538	223	2618.02	nil	0	0	0.00
Transponder_ping	2	420	22.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.26
TT8	2576	19	502.99
LPSleep	7974	2	180.52
TT8_Active	685	19	133.91
TT8_Sampling	2461	39	963.04
TT8_CF8	617	45	277.69
TT8_Kalman	0	0	0.00
Analog_circuits	1694	12	199.31
GPS_charging	0	0	0.00
Compass	1814	15	266.80
RAFOS	2160	3	63.50
Transponder	19	30	5.72

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.57	-146.0	0.0	0.0	0	165	0.00	0.00	-141.65	0.000	2	0.000	0.000	278	2788	3452	0	0	0	0	0	0
168	-0.57	-146.0	5.1	-11.8	25	187	8.45	2.30	-1.40	0.000	4	0.243	0.057	2282	1369	3522	0	0	0	0	0	0
322	-0.61	-146.0	33.4	-10.0	51	328	0.00	2.33	0.00	0.000	6	0.000	0.058	2276	2773	3522	0	0	0	0	0	0
668	-0.61	-146.0	72.7	-12.1	112	674	0.00	2.22	0.00	0.000	4	0.000	0.047	2276	1368	3522	0	0	0	0	0	0
711	-0.64	-146.0	77.3	-10.9	119	718	0.00	2.33	0.00	0.000	6	0.000	0.058	2275	2771	3521	0	0	0	0	0	0
1051	-0.66	-146.0	110.5	-10.2	170	1055	0.00	1.92	0.00	0.000	4	0.000	0.069	2272	3927	3522	0	0	0	0	0	0
1120	-0.70	-146.0	117.6	-10.4	176	1124	0.00	1.88	0.00	0.000	6	0.000	0.045	2272	2778	3522	0	0	0	0	0	0
1452	-0.74	-146.0	150.1	-10.1	207	1457	0.10	2.22	0.00	0.000	4	0.113	0.047	2224	1373	3522	0	0	0	0	0	0
1504	-0.69	-146.0	156.6	-13.3	211	1508	0.00	2.30	0.00	0.000	6	0.000	0.059	2222	2770	3522	0	0	0	0	0	0
1838	-0.64	-146.0	197.9	-11.4	242	1842	0.15	1.98	0.00	0.000	4	0.170	0.068	2257	3928	3522	0	0	0	0	0	0
1906	-0.67	-146.0	204.7	-8.8	248	1910	0.00	1.88	0.00	0.000	6	0.000	0.045	2257	2778	3523	0	0	0	0	0	0
2241	-0.69	-146.0	232.9	-8.5	279	2245	0.00	2.22	0.00	0.000	4	0.000	0.046	2256	1363	3522	0	0	0	0	0	0
2264	-0.71	-146.0	235.4	-9.3	280	2270	0.00	2.35	0.00	0.000	6	0.000	0.057	2250	2784	3522	0	0	0	0	0	0
2589	-0.71	-146.0	267.4	-10.4	311	2593	0.00	1.90	0.00	0.000	4	0.000	0.068	2247	3928	3523	0	0	0	0	0	0
2614	-0.71	-146.0	270.0	-10.8	313	2618	0.00	1.83	0.00	0.000	6	0.000	0.044	2247	2775	3523	0	0	0	0	0	0
2946	-0.71	-146.0	303.2	-9.0	344	2948	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2775	3523	0	0	0	0	0	0
3264	-0.71	-146.0	332.3	-9.8	374	3268	0.00	2.22	0.00	0.000	4	0.000	0.045	2247	1364	3524	0	0	0	0	0	0
3313	-0.75	-146.0	336.5	-9.3	378	3317	0.00	2.33	0.00	0.000	6	0.000	0.056	2247	2786	3524	0	0	0	0	0	0
3638	-0.75	-146.0	367.4	-8.9	408	3642	0.00	1.90	0.00	0.000	4	0.000	0.067	2247	3929	3525	0	0	0	0	0	0
3679	-0.77	-146.0	371.2	-9.6	411	3685	0.00	1.83	0.00	0.000	6	0.000	0.043	2247	2774	3525	0	0	0	0	0	0
4005	-0.77	-146.0	399.6	-9.1	442	4010	0.00	2.20	0.00	0.000	4	0.000	0.045	2247	1369	3525	0	0	0	0	0	0
4027	-0.79	-146.0	402.0	-9.7	443	4032	0.00	2.33	0.00	0.000	6	0.000	0.056	2247	2790	3526	0	0	0	0	0	0
4342	-0.79	-146.0	427.2	-7.5	453	4346	0.00	2.25	0.00	0.000	4	0.000	0.044	2246	1365	3526	0	0	0	0	0	0
4371	-0.81	-146.0	429.9	-9.2	454	4375	0.00	2.33	0.00	0.000	6	0.000	0.056	2247	2787	3526	0	0	0	0	0	0
4708	-0.81	-146.0	458.9	-8.9	465	4712	0.00	2.22	0.00	0.000	4	0.000	0.045	2247	1373	3526	0	0	0	0	0	0
4752	-0.85	-146.0	463.3	-9.3	466	4757	0.15	2.28	0.00	0.000	6	0.085	0.057	2178	2764	3526	0	0	0	0	0	0
5072	-0.74	-146.0	504.7	-13.4	477	5077	0.20	2.22	0.00	0.000	4	0.168	0.044	2233	1365	3526	0	0	0	0	0	0
5111	-0.74	-146.0	509.2	-9.2	478	5115	0.00	2.28	0.00	0.000	6	0.000	0.057	2233	2755	3526	0	0	0	0	0	0
5435	-0.74	-146.0	538.7	-9.0	489	5436	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2755	3527	0	0	0	0	0	0
5742	-0.74	-146.0	566.6	-9.0	499	5743	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2755	3526	0	0	0	0	0	0
6048	-0.74	-146.0	594.1	-8.9	509	6052	0.00	2.20	0.00	0.000	4	0.000	0.047	2233	1374	3526	0	0	0	0	0	0
6075	-0.74	-146.0	596.7	-8.4	509	6082	0.00	2.25	0.00	0.000	6	0.000	0.057	2233	2747	3527	0	0	0	0	0	0
6390	-0.74	-146.0	621.4	-8.2	520	6393	0.00	1.98	0.00	0.000	4	0.000	0.067	2228	3929	3527	0	0	0	0	0	0
6440	-0.74	-146.0	626.2	-9.1	521	6444	0.00	1.88	0.00	0.000	6	0.000	0.044	2228	2754	3527	0	0	0	0	0	0
6703	end dive: BOTTOM_OBSTACLE_DETECTED
state	6703	begin apogee
6710	-0.14	0.0	650.8	9.4	530	6841	0.60	0.00	124.53	0.978	4	0.129	0.000	2424	2599	2923	0	0	0	0	0	0
6842	end apogee: CONTROL_FINISHED_OK
state	6842	begin climb
6845	0.57	146.0	655.0	0.0	534	6986	0.68	2.38	129.80	0.958	4	0.060	0.047	2671	1185	2326	0	0	0	0	0	0
7166	0.54	146.0	625.6	11.0	544	7170	0.00	2.38	0.00	0.000	6	0.000	0.052	2671	2609	2318	0	0	0	0	0	0
7496	0.48	146.0	584.8	12.6	555	7501	0.15	2.28	0.00	0.000	4	0.187	0.049	2636	1191	2314	0	0	0	0	0	0
7727	0.53	164.0	561.7	9.2	561	7748	0.00	2.30	14.25	0.877	6	0.000	0.054	2635	2614	2255	0	0	0	0	0	0
8073	0.53	164.0	525.6	10.7	573	8077	0.00	2.20	0.00	0.000	4	0.000	0.064	2635	3930	2252	0	0	0	0	0	0
8117	0.48	164.0	519.8	13.3	574	8121	0.00	2.12	0.00	0.000	6	0.000	0.042	2639	2605	2251	0	0	0	0	0	0
8442	0.48	164.0	484.9	11.0	585	8446	0.00	2.25	0.00	0.000	4	0.000	0.050	2639	1183	2251	0	0	0	0	0	0
8463	0.48	164.0	482.2	11.0	585	8467	0.00	2.30	0.00	0.000	6	0.000	0.053	2639	2614	2251	0	0	0	0	0	0
8782	0.48	164.0	448.6	10.5	596	8786	0.00	2.17	0.00	0.000	4	0.000	0.064	2639	3925	2250	0	0	0	0	0	0
8827	0.44	164.0	443.2	12.3	597	8831	0.00	2.08	0.00	0.000	6	0.000	0.042	2645	2620	2249	0	0	0	0	0	0
9156	0.44	164.0	407.2	10.9	608	9160	0.00	2.20	0.00	0.000	4	0.000	0.065	2645	3923	2249	0	0	0	0	0	0
9190	0.38	164.0	402.7	13.3	609	9194	0.17	2.08	0.00	0.000	6	0.185	0.041	2603	2625	2248	0	0	0	0	0	0
9520	0.46	180.6	373.9	9.2	637	9540	0.00	0.00	15.32	0.791	6	0.000	0.000	2603	2625	2185	0	0	0	0	0	0
9859	0.54	180.6	340.5	10.0	669	9863	0.15	2.20	0.00	0.000	4	0.090	0.064	2672	3932	2183	0	0	0	0	0	0
9880	0.54	180.6	337.4	13.4	670	9887	0.00	2.08	0.00	0.000	6	0.000	0.041	2677	2630	2182	0	0	0	0	0	0
10206	0.49	180.6	290.3	12.7	701	10208	0.15	0.00	0.00	0.000	6	0.184	0.000	2637	2630	2182	0	0	0	0	0	0
10524	0.52	180.6	257.1	11.1	731	10525	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2630	2182	0	0	0	0	0	0
10845	0.54	180.6	223.2	10.4	761	10851	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2630	2182	0	0	0	0	0	0
11173	0.58	180.6	187.1	10.2	792	11176	0.00	2.15	0.00	0.000	4	0.000	0.063	2637	3925	2182	0	0	0	0	0	0
11224	0.58	180.6	181.2	11.6	796	11231	0.00	2.05	0.00	0.000	6	0.000	0.040	2637	2635	2182	0	0	0	0	0	0
11550	0.63	198.4	150.6	9.2	827	11574	0.12	2.30	16.00	0.652	4	0.100	0.046	2694	1184	2114	0	0	0	0	0	0
11588	0.60	198.4	146.6	11.5	830	11592	0.00	2.35	0.00	0.000	6	0.000	0.050	2694	2647	2113	0	0	0	0	0	0
11915	0.55	198.4	107.7	11.6	860	11917	0.15	0.00	0.00	0.000	6	0.180	0.000	2653	2647	2112	0	0	0	0	0	0
12247	0.61	216.5	75.0	9.2	913	12265	0.00	0.00	16.45	0.617	6	0.000	0.000	2653	2647	2039	0	0	0	0	0	0
12607	0.71	266.0	45.3	7.7	976	12655	0.15	0.00	42.03	0.601	6	0.091	0.000	2717	2647	1837	0	0	0	0	0	0
12929	end climb: SURFACE_DEPTH_REACHED
state	12929	begin surface coast
12946	end surface coast: CONTROL_FINISHED_OK
state	12947	begin surface