Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 770 * 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 770 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 38 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 27 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 -11463.063 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 -11463.063

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 38 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 27 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 770 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 150111,065444,6713.778,-5728.072,39,1.6,52,-38.0 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150111,070102,6713.816,-5728.184,10,1.3,10,-38.0 MHEAD_RNG_PITCHd_Wd 285.0,141318,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 637

Post-dive calculations and measurements:

FREEZE 0.89,2.004,-1.813,0,1,0 ALTIM_TOP_PING 19.6,19.6

FINISH 0.9,1.026434 _24V_AH 22.0,86.822

SM_CCo 12979,207.48,0.080,0,0,440,609.08 _10V_AH 9.8,59.550

SM_GC 1.38,0.00,0.00,207.48,0.000,0.000,0.080,294,2782,440,-6.80,0.06,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 577 FG_AHR_10Vo 0.000

RAFOS 0,1295078470,8.033334,8.019444,49,48,43,42,41,41,1418,1125,944,384,26,1443 MEM 151748

RAFOS_FIX 6713.093262,-5731.069336,150111,080828,2,86,0.42 DATA_FILE_SIZE 40005,1075

IRIDIUM_FIX 6641.98,-5723.22,150111,030327 CAP_FILE_SIZE 135782,0

TT8_MAMPS 0.029211 CFSIZE 260165632,199401472

HUMID 46.29 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.55349 SOUNDSPEED 1470.2

TCM_TEMP 16.20 GPS 150111,104301,6714.355,-5735.095,40,1.4,40,-38.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 237 96.00 SBE_CT 740 24 391.22

Roll_motor 91 72 146.65 SBE_O2 0 0 0.00

VBD_pump_during_apogee 333 964 7080.93 nil 0 0 0.00

VBD_pump_during_surface 207 80 366.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 63.64 nil 0 0 0.00

Iridium_during_connect 49 160 175.67 nil 0 0 0.00

Iridium_during_xfer 141 223 696.38 nil 0 0 0.00

Transponder_ping 2 420 18.48 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.44

TT8 2662 19 519.86

LPSleep 7821 2 177.07

TT8_Active 668 19 130.58

TT8_Sampling 2066 39 808.60

TT8_CF8 360 45 162.29

TT8_Kalman 0 0 0.00

Analog_circuits 1672 12 196.69

GPS_charging 0 0 0.00

Compass 1842 15 270.79

RAFOS 2520 3 74.09

Transponder 15 30 4.41

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 -141.98 0.000 2 0.000 0.000 277 2787 3484 0 0 0 0 0 0

168 -0.57 -146.0 5.5 -13.2 25 183 8.40 1.95 -0.70 0.000 4 0.237 0.073 2279 3932 3521 0 0 0 0 0 0

202 0.09 -146.0 22.2 -42.6 30 209 0.73 1.83 0.00 0.000 6 0.140 0.043 2500 2775 3523 0 0 0 0 0 0

550 -0.35 -146.0 48.9 -8.9 91 558 0.38 1.95 0.00 0.000 4 0.097 0.067 2364 3924 3522 0 0 0 0 0 0

764 -0.75 -146.0 66.2 -7.9 128 772 0.38 1.65 0.00 0.000 6 0.100 0.045 2234 2914 3522 0 0 0 0 0 0

1110 -0.71 -146.0 104.1 -11.4 186 1114 0.00 2.42 0.00 0.000 4 0.000 0.044 2233 1375 3521 0 0 0 0 0 0

1245 -0.71 -146.0 120.0 -11.1 198 1249 0.00 2.50 0.00 0.000 6 0.000 0.058 2228 2883 3521 0 0 0 0 0 0

1577 -0.67 -146.0 160.1 -12.0 229 1582 0.12 2.45 0.00 0.000 4 0.177 0.046 2261 1366 3521 0 0 0 0 0 0

1657 -0.71 -146.0 168.1 -9.5 236 1662 0.00 2.50 0.00 0.000 6 0.000 0.058 2261 2871 3521 0 0 0 0 0 0

1989 -0.75 -146.0 198.9 -8.8 267 1994 0.00 2.40 0.00 0.000 4 0.000 0.045 2260 1367 3521 0 0 0 0 0 0

2084 -0.81 -146.0 206.9 -8.3 275 2089 0.12 2.47 0.00 0.000 6 0.093 0.058 2202 2859 3521 0 0 0 0 0 0

2412 -0.74 -146.0 244.4 -11.4 305 2417 0.12 2.40 0.00 0.000 4 0.177 0.044 2235 1372 3521 0 0 0 0 0 0

2446 -0.74 -146.0 248.2 -10.0 307 2453 0.00 2.45 0.00 0.000 6 0.000 0.057 2235 2857 3521 0 0 0 0 0 0

2772 -0.74 -146.0 279.2 -9.9 338 2776 0.00 2.35 0.00 0.000 4 0.000 0.044 2235 1369 3521 0 0 0 0 0 0

2835 -0.77 -146.0 285.4 -9.5 343 2842 0.00 2.42 0.00 0.000 6 0.000 0.057 2235 2834 3521 0 0 0 0 0 0

3161 -0.77 -146.0 315.4 -9.5 374 3165 0.00 2.30 0.00 0.000 4 0.000 0.044 2235 1372 3522 0 0 0 0 0 0

3191 -0.77 -146.0 318.3 -9.6 376 3195 0.00 2.40 0.00 0.000 6 0.000 0.057 2235 2832 3522 0 0 0 0 0 0

3517 -0.77 -146.0 349.1 -9.8 406 3522 0.00 2.33 0.00 0.000 4 0.000 0.043 2234 1369 3523 0 0 0 0 0 0

3552 -0.77 -146.0 352.9 -10.1 409 3556 0.00 2.40 0.00 0.000 6 0.000 0.057 2234 2831 3523 0 0 0 0 0 0

3878 -0.77 -146.0 383.4 -9.5 439 3882 0.00 2.30 0.00 0.000 4 0.000 0.043 2234 1367 3523 0 0 0 0 0 0

3907 -0.77 -146.0 386.3 -9.4 441 3912 0.00 2.40 0.00 0.000 6 0.000 0.056 2235 2819 3523 0 0 0 0 0 0

4250 -0.77 -146.0 417.2 -9.0 461 4254 0.00 2.28 0.00 0.000 4 0.000 0.043 2234 1370 3524 0 0 0 0 0 0

4306 -0.80 -146.0 423.0 -9.4 462 4313 0.00 2.40 0.00 0.000 6 0.000 0.056 2234 2822 3524 0 0 0 0 0 0

4621 -0.80 -146.0 451.2 -8.9 473 4625 0.00 2.30 0.00 0.000 4 0.000 0.044 2234 1371 3525 0 0 0 0 0 0

4666 -0.83 -146.0 455.3 -8.6 474 4671 0.00 2.35 0.00 0.000 6 0.000 0.056 2234 2805 3525 0 0 0 0 0 0

4987 -0.83 -146.0 483.6 -9.2 485 4991 0.00 2.25 0.00 0.000 4 0.000 0.043 2234 1372 3525 0 0 0 0 0 0

5037 -0.85 -146.0 488.4 -9.3 486 5041 0.00 2.35 0.00 0.000 6 0.000 0.055 2234 2805 3525 0 0 0 0 0 0

5351 -0.85 -146.0 515.7 -8.6 496 5355 0.00 2.28 0.00 0.000 4 0.000 0.044 2234 1371 3526 0 0 0 0 0 0

5413 -0.88 -146.0 521.2 -8.6 497 5420 0.12 2.33 0.00 0.000 6 0.093 0.055 2174 2788 3526 0 0 0 0 0 0

5726 -0.79 -146.0 559.1 -12.4 508 5728 0.17 0.00 0.00 0.000 6 0.163 0.000 2222 2788 3526 0 0 0 0 0 0

6034 -0.79 -146.0 587.5 -9.3 518 6038 0.00 2.22 0.00 0.000 4 0.000 0.044 2222 1374 3526 0 0 0 0 0 0

6063 -0.79 -146.0 590.5 -9.5 519 6067 0.00 2.30 0.00 0.000 6 0.000 0.057 2222 2779 3526 0 0 0 0 0 0

6399 -0.79 -146.0 623.3 -9.7 530 6400 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2779 3526 0 0 0 0 0 0

6549 end dive: TARGET_DEPTH_EXCEEDED

state 6549 begin apogee

6557 -0.14 0.0 637.9 9.7 535 6687 0.62 0.00 123.90 0.965 4 0.129 0.000 2424 2602 2923 0 0 0 0 0 0

6688 end apogee: CONTROL_FINISHED_OK

state 6688 begin climb

6692 0.57 146.0 641.8 0.0 539 6828 0.65 2.35 127.78 0.949 4 0.062 0.046 2662 1185 2326 0 0 0 0 0 0

6987 0.57 146.0 616.7 10.8 548 6991 0.00 2.35 0.00 0.000 6 0.000 0.052 2662 2607 2319 0 0 0 0 0 0

7311 0.53 146.0 578.9 11.5 559 7315 0.00 2.25 0.00 0.000 4 0.000 0.049 2663 1188 2316 0 0 0 0 0 0

7552 0.53 146.0 552.6 11.1 566 7556 0.00 2.30 0.00 0.000 6 0.000 0.053 2663 2612 2315 0 0 0 0 0 0

7883 0.49 146.0 513.9 12.0 577 7885 0.12 0.00 0.00 0.000 6 0.192 0.000 2631 2613 2314 0 0 0 0 0 0

8190 0.49 147.2 482.6 9.9 587 8191 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2613 2313 0 0 0 0 0 0

8495 0.49 148.6 452.2 9.9 597 8496 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2613 2312 0 0 0 0 0 0

8801 0.49 148.9 421.8 10.0 607 8802 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2613 2312 0 0 0 0 0 0

9111 0.51 148.9 390.7 10.1 621 9112 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2612 2311 0 0 0 0 0 0

9432 0.53 149.6 358.7 10.0 651 9438 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2613 2311 0 0 0 0 0 0

9761 0.56 163.3 326.6 9.4 682 9784 0.00 2.28 13.02 0.750 4 0.000 0.064 2631 3926 2257 0 0 0 0 0 0

9823 0.56 163.3 319.7 11.0 687 9830 0.00 2.12 0.00 0.000 6 0.000 0.041 2634 2595 2255 0 0 0 0 0 0

10149 0.58 163.3 286.2 10.7 718 10150 0.00 0.00 0.00 0.000 6 0.000 0.000 2635 2594 2256 0 0 0 0 0 0

10471 0.60 163.3 253.3 10.4 748 10478 0.10 0.00 0.00 0.000 6 0.113 0.000 2684 2594 2255 0 0 0 0 0 0

10797 0.55 163.3 210.4 12.7 779 10799 0.12 0.00 0.00 0.000 6 0.172 0.000 2650 2594 2255 0 0 0 0 0 0

11115 0.55 163.3 176.9 10.9 809 11117 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2594 2255 0 0 0 0 0 0

11437 0.55 163.3 143.3 10.8 839 11441 0.00 2.22 0.00 0.000 4 0.000 0.063 2650 3929 2255 0 0 0 0 0 0

11481 0.51 163.3 137.3 13.0 842 11488 0.00 2.08 0.00 0.000 6 0.000 0.039 2655 2602 2255 0 0 0 0 0 0

11807 0.51 163.3 101.8 10.6 873 11808 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2601 2255 0 0 0 0 0 0

12144 0.55 182.0 68.2 9.1 931 12168 0.00 2.22 17.60 0.603 4 0.000 0.062 2654 3926 2179 0 0 0 0 0 0

12209 0.55 182.0 61.1 11.3 942 12216 0.00 2.08 0.00 0.000 6 0.000 0.040 2655 2614 2177 0 0 0 0 0 0

12558 0.63 243.8 31.6 7.1 1003 12616 0.00 0.00 51.35 0.584 6 0.000 0.000 2655 2614 1927 0 0 0 0 0 0

12927 end climb: SURFACE_DEPTH_REACHED

state 12927 begin surface coast

12962 end surface coast: CONTROL_FINISHED_OK

state 12962 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	770	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	38	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	27	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	-11463.063	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	150111,065444,6713.778,-5728.072,39,1.6,52,-38.0	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150111,070102,6713.816,-5728.184,10,1.3,10,-38.0	MHEAD_RNG_PITCHd_Wd	285.0,141318,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	637

FREEZE	0.89,2.004,-1.813,0,1,0	ALTIM_TOP_PING	19.6,19.6
FINISH	0.9,1.026434	_24V_AH	22.0,86.822
SM_CCo	12979,207.48,0.080,0,0,440,609.08	_10V_AH	9.8,59.550
SM_GC	1.38,0.00,0.00,207.48,0.000,0.000,0.080,294,2782,440,-6.80,0.06,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	577	FG_AHR_10Vo	0.000
RAFOS	0,1295078470,8.033334,8.019444,49,48,43,42,41,41,1418,1125,944,384,26,1443	MEM	151748
RAFOS_FIX	6713.093262,-5731.069336,150111,080828,2,86,0.42	DATA_FILE_SIZE	40005,1075
IRIDIUM_FIX	6641.98,-5723.22,150111,030327	CAP_FILE_SIZE	135782,0
TT8_MAMPS	0.029211	CFSIZE	260165632,199401472
HUMID	46.29	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.55349	SOUNDSPEED	1470.2
TCM_TEMP	16.20	GPS	150111,104301,6714.355,-5735.095,40,1.4,40,-38.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	237	96.00	SBE_CT	740	24	391.22
Roll_motor	91	72	146.65	SBE_O2	0	0	0.00
VBD_pump_during_apogee	333	964	7080.93	nil	0	0	0.00
VBD_pump_during_surface	207	80	366.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	63.64	nil	0	0	0.00
Iridium_during_connect	49	160	175.67	nil	0	0	0.00
Iridium_during_xfer	141	223	696.38	nil	0	0	0.00
Transponder_ping	2	420	18.48	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.44
TT8	2662	19	519.86
LPSleep	7821	2	177.07
TT8_Active	668	19	130.58
TT8_Sampling	2066	39	808.60
TT8_CF8	360	45	162.29
TT8_Kalman	0	0	0.00
Analog_circuits	1672	12	196.69
GPS_charging	0	0	0.00
Compass	1842	15	270.79
RAFOS	2520	3	74.09
Transponder	15	30	4.41

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	-141.98	0.000	2	0.000	0.000	277	2787	3484	0	0	0	0	0	0
168	-0.57	-146.0	5.5	-13.2	25	183	8.40	1.95	-0.70	0.000	4	0.237	0.073	2279	3932	3521	0	0	0	0	0	0
202	0.09	-146.0	22.2	-42.6	30	209	0.73	1.83	0.00	0.000	6	0.140	0.043	2500	2775	3523	0	0	0	0	0	0
550	-0.35	-146.0	48.9	-8.9	91	558	0.38	1.95	0.00	0.000	4	0.097	0.067	2364	3924	3522	0	0	0	0	0	0
764	-0.75	-146.0	66.2	-7.9	128	772	0.38	1.65	0.00	0.000	6	0.100	0.045	2234	2914	3522	0	0	0	0	0	0
1110	-0.71	-146.0	104.1	-11.4	186	1114	0.00	2.42	0.00	0.000	4	0.000	0.044	2233	1375	3521	0	0	0	0	0	0
1245	-0.71	-146.0	120.0	-11.1	198	1249	0.00	2.50	0.00	0.000	6	0.000	0.058	2228	2883	3521	0	0	0	0	0	0
1577	-0.67	-146.0	160.1	-12.0	229	1582	0.12	2.45	0.00	0.000	4	0.177	0.046	2261	1366	3521	0	0	0	0	0	0
1657	-0.71	-146.0	168.1	-9.5	236	1662	0.00	2.50	0.00	0.000	6	0.000	0.058	2261	2871	3521	0	0	0	0	0	0
1989	-0.75	-146.0	198.9	-8.8	267	1994	0.00	2.40	0.00	0.000	4	0.000	0.045	2260	1367	3521	0	0	0	0	0	0
2084	-0.81	-146.0	206.9	-8.3	275	2089	0.12	2.47	0.00	0.000	6	0.093	0.058	2202	2859	3521	0	0	0	0	0	0
2412	-0.74	-146.0	244.4	-11.4	305	2417	0.12	2.40	0.00	0.000	4	0.177	0.044	2235	1372	3521	0	0	0	0	0	0
2446	-0.74	-146.0	248.2	-10.0	307	2453	0.00	2.45	0.00	0.000	6	0.000	0.057	2235	2857	3521	0	0	0	0	0	0
2772	-0.74	-146.0	279.2	-9.9	338	2776	0.00	2.35	0.00	0.000	4	0.000	0.044	2235	1369	3521	0	0	0	0	0	0
2835	-0.77	-146.0	285.4	-9.5	343	2842	0.00	2.42	0.00	0.000	6	0.000	0.057	2235	2834	3521	0	0	0	0	0	0
3161	-0.77	-146.0	315.4	-9.5	374	3165	0.00	2.30	0.00	0.000	4	0.000	0.044	2235	1372	3522	0	0	0	0	0	0
3191	-0.77	-146.0	318.3	-9.6	376	3195	0.00	2.40	0.00	0.000	6	0.000	0.057	2235	2832	3522	0	0	0	0	0	0
3517	-0.77	-146.0	349.1	-9.8	406	3522	0.00	2.33	0.00	0.000	4	0.000	0.043	2234	1369	3523	0	0	0	0	0	0
3552	-0.77	-146.0	352.9	-10.1	409	3556	0.00	2.40	0.00	0.000	6	0.000	0.057	2234	2831	3523	0	0	0	0	0	0
3878	-0.77	-146.0	383.4	-9.5	439	3882	0.00	2.30	0.00	0.000	4	0.000	0.043	2234	1367	3523	0	0	0	0	0	0
3907	-0.77	-146.0	386.3	-9.4	441	3912	0.00	2.40	0.00	0.000	6	0.000	0.056	2235	2819	3523	0	0	0	0	0	0
4250	-0.77	-146.0	417.2	-9.0	461	4254	0.00	2.28	0.00	0.000	4	0.000	0.043	2234	1370	3524	0	0	0	0	0	0
4306	-0.80	-146.0	423.0	-9.4	462	4313	0.00	2.40	0.00	0.000	6	0.000	0.056	2234	2822	3524	0	0	0	0	0	0
4621	-0.80	-146.0	451.2	-8.9	473	4625	0.00	2.30	0.00	0.000	4	0.000	0.044	2234	1371	3525	0	0	0	0	0	0
4666	-0.83	-146.0	455.3	-8.6	474	4671	0.00	2.35	0.00	0.000	6	0.000	0.056	2234	2805	3525	0	0	0	0	0	0
4987	-0.83	-146.0	483.6	-9.2	485	4991	0.00	2.25	0.00	0.000	4	0.000	0.043	2234	1372	3525	0	0	0	0	0	0
5037	-0.85	-146.0	488.4	-9.3	486	5041	0.00	2.35	0.00	0.000	6	0.000	0.055	2234	2805	3525	0	0	0	0	0	0
5351	-0.85	-146.0	515.7	-8.6	496	5355	0.00	2.28	0.00	0.000	4	0.000	0.044	2234	1371	3526	0	0	0	0	0	0
5413	-0.88	-146.0	521.2	-8.6	497	5420	0.12	2.33	0.00	0.000	6	0.093	0.055	2174	2788	3526	0	0	0	0	0	0
5726	-0.79	-146.0	559.1	-12.4	508	5728	0.17	0.00	0.00	0.000	6	0.163	0.000	2222	2788	3526	0	0	0	0	0	0
6034	-0.79	-146.0	587.5	-9.3	518	6038	0.00	2.22	0.00	0.000	4	0.000	0.044	2222	1374	3526	0	0	0	0	0	0
6063	-0.79	-146.0	590.5	-9.5	519	6067	0.00	2.30	0.00	0.000	6	0.000	0.057	2222	2779	3526	0	0	0	0	0	0
6399	-0.79	-146.0	623.3	-9.7	530	6400	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2779	3526	0	0	0	0	0	0
6549	end dive: TARGET_DEPTH_EXCEEDED
state	6549	begin apogee
6557	-0.14	0.0	637.9	9.7	535	6687	0.62	0.00	123.90	0.965	4	0.129	0.000	2424	2602	2923	0	0	0	0	0	0
6688	end apogee: CONTROL_FINISHED_OK
state	6688	begin climb
6692	0.57	146.0	641.8	0.0	539	6828	0.65	2.35	127.78	0.949	4	0.062	0.046	2662	1185	2326	0	0	0	0	0	0
6987	0.57	146.0	616.7	10.8	548	6991	0.00	2.35	0.00	0.000	6	0.000	0.052	2662	2607	2319	0	0	0	0	0	0
7311	0.53	146.0	578.9	11.5	559	7315	0.00	2.25	0.00	0.000	4	0.000	0.049	2663	1188	2316	0	0	0	0	0	0
7552	0.53	146.0	552.6	11.1	566	7556	0.00	2.30	0.00	0.000	6	0.000	0.053	2663	2612	2315	0	0	0	0	0	0
7883	0.49	146.0	513.9	12.0	577	7885	0.12	0.00	0.00	0.000	6	0.192	0.000	2631	2613	2314	0	0	0	0	0	0
8190	0.49	147.2	482.6	9.9	587	8191	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2613	2313	0	0	0	0	0	0
8495	0.49	148.6	452.2	9.9	597	8496	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2613	2312	0	0	0	0	0	0
8801	0.49	148.9	421.8	10.0	607	8802	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2613	2312	0	0	0	0	0	0
9111	0.51	148.9	390.7	10.1	621	9112	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2612	2311	0	0	0	0	0	0
9432	0.53	149.6	358.7	10.0	651	9438	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2613	2311	0	0	0	0	0	0
9761	0.56	163.3	326.6	9.4	682	9784	0.00	2.28	13.02	0.750	4	0.000	0.064	2631	3926	2257	0	0	0	0	0	0
9823	0.56	163.3	319.7	11.0	687	9830	0.00	2.12	0.00	0.000	6	0.000	0.041	2634	2595	2255	0	0	0	0	0	0
10149	0.58	163.3	286.2	10.7	718	10150	0.00	0.00	0.00	0.000	6	0.000	0.000	2635	2594	2256	0	0	0	0	0	0
10471	0.60	163.3	253.3	10.4	748	10478	0.10	0.00	0.00	0.000	6	0.113	0.000	2684	2594	2255	0	0	0	0	0	0
10797	0.55	163.3	210.4	12.7	779	10799	0.12	0.00	0.00	0.000	6	0.172	0.000	2650	2594	2255	0	0	0	0	0	0
11115	0.55	163.3	176.9	10.9	809	11117	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2594	2255	0	0	0	0	0	0
11437	0.55	163.3	143.3	10.8	839	11441	0.00	2.22	0.00	0.000	4	0.000	0.063	2650	3929	2255	0	0	0	0	0	0
11481	0.51	163.3	137.3	13.0	842	11488	0.00	2.08	0.00	0.000	6	0.000	0.039	2655	2602	2255	0	0	0	0	0	0
11807	0.51	163.3	101.8	10.6	873	11808	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2601	2255	0	0	0	0	0	0
12144	0.55	182.0	68.2	9.1	931	12168	0.00	2.22	17.60	0.603	4	0.000	0.062	2654	3926	2179	0	0	0	0	0	0
12209	0.55	182.0	61.1	11.3	942	12216	0.00	2.08	0.00	0.000	6	0.000	0.040	2655	2614	2177	0	0	0	0	0	0
12558	0.63	243.8	31.6	7.1	1003	12616	0.00	0.00	51.35	0.584	6	0.000	0.000	2655	2614	1927	0	0	0	0	0	0
12927	end climb: SURFACE_DEPTH_REACHED
state	12927	begin surface coast
12962	end surface coast: CONTROL_FINISHED_OK
state	12962	begin surface