Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 796 * 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 796 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 33 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 -2 T_GPS_CHARGE -12213.804 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 -12213.804

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 64 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 117 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 183 RHO 1.0275 T_TURN 225

COMPASS_USE 1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT -0.89999998 ROLL_ADJ_GAIN 2.5 T_WATCHDOG 10

C_PITCH 2475 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2600 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 330 VBD_CNV -0.24529999

DEVICE1 2 MASS 51717 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 33 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 796 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 200111,202734,6648.676,-5942.916,0,7129.3,0,-38.2 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 9.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -0.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200111,202734,6648.676,-5942.916,0,7129.3,0,-38.2 MHEAD_RNG_PITCHd_Wd 292.8,32687,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 889

Post-dive calculations and measurements:

FREEZE 8.85,-1.747,-1.765,2,14,0 ALTIM_BOTTOM_PING 652.5,12.3

FINISH1 8.9,1.025845,81 _24V_AH 21.2,90.063

FINISH2 6.9 _10V_AH 9.7,61.623

RAFOS_CLK 734 FG_AHR_24Vo 0.000

RAFOS 0,1295568084,0.033333,0.023333,52,46,43,43,42,40,582,915,1291,1881,250,686 FG_AHR_10Vo 0.000

RAFOS_FIX 6647.594238,-5945.093262,210111,000024,5,117,0.17 MEM 151708

IRIDIUM_FIX 6641.98,-5833.70,170111,181821 DATA_FILE_SIZE 33436,976

TT8_MAMPS 0.028462 CAP_FILE_SIZE 127359,0

HUMID 49.80 CFSIZE 260165632,197509120

INTERNAL_PRESSURE 8.61208 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.00 SOUNDSPEED 1450.3

XPDR_PINGS 0 GPS 210111,003524,6647.594,-5945.093,0,5117.4,0,-38.2

ALTIM_TOP_PING 19.4,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 185 17.66 SBE_CT 681 24 346.57

Roll_motor 96 85 175.87 SBE_O2 0 0 0.00

VBD_pump_during_apogee 436 1009 9338.06 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 22.26 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2439 19 471.39

LPSleep 7920 2 177.48

TT8_Active 474 19 91.62

TT8_Sampling 1702 39 659.35

TT8_CF8 246 45 109.58

TT8_Kalman 0 0 0.00

Analog_circuits 1409 12 164.03

GPS_charging 0 0 0.00

Compass 1686 15 245.40

RAFOS 2520 3 73.33

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.57 -146.0 0.0 0.0 0 24 0.00 0.00 -5.47 0.000 2 0.000 0.000 2498 2642 2816 0 0 0 0 0 0

28 -0.57 -146.0 9.6 -0.0 1 53 0.55 2.15 -17.75 0.000 4 0.084 0.067 2295 1367 3522 0 0 0 0 0 0

83 -0.59 -146.0 13.2 -9.0 10 90 0.00 2.35 0.00 0.000 6 0.000 0.062 2290 2777 3523 0 0 0 0 0 0

430 -0.59 -146.0 60.8 -12.4 71 437 0.00 1.98 0.00 0.000 4 0.000 0.073 2282 3935 3522 0 0 0 0 0 0

457 -0.57 -146.0 64.0 -12.1 75 464 0.00 1.90 0.00 0.000 6 0.000 0.049 2282 2776 3523 0 0 0 0 0 0

805 -0.57 -146.0 108.1 -12.1 131 809 0.00 2.28 0.00 0.000 4 0.000 0.052 2282 1365 3522 0 0 0 0 0 0

872 -0.60 -146.0 115.7 -10.5 136 879 0.00 2.38 0.00 0.000 6 0.000 0.063 2279 2770 3522 0 0 0 0 0 0

1200 -0.62 -146.0 148.3 -8.5 167 1203 0.00 2.03 0.00 0.000 4 0.000 0.073 2273 3938 3522 0 0 0 0 0 0

1247 -0.66 -146.0 152.5 -8.8 171 1251 0.00 1.92 0.00 0.000 6 0.000 0.050 2273 2772 3522 0 0 0 0 0 0

1578 -0.68 -146.0 185.8 -10.6 202 1580 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2772 3522 0 0 0 0 0 0

1902 -0.71 -146.0 216.7 -8.6 232 1906 0.00 2.28 0.00 0.000 4 0.000 0.051 2273 1362 3521 0 0 0 0 0 0

1936 -0.76 -146.0 220.1 -8.4 234 1943 0.12 2.40 0.00 0.000 6 0.102 0.063 2220 2773 3521 0 0 0 0 0 0

2262 -0.70 -146.0 259.0 -11.5 265 2263 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2773 3521 0 0 0 0 0 0

2583 -0.65 -146.0 297.3 -12.1 295 2590 0.15 0.00 0.00 0.000 6 0.172 0.000 2262 2773 3521 0 0 0 0 0 0

2909 -0.69 -146.0 326.9 -9.0 326 2913 0.00 2.30 0.00 0.000 4 0.000 0.052 2262 1370 3521 0 0 0 0 0 0

2955 -0.74 -146.0 331.1 -8.5 329 2962 0.00 2.38 0.00 0.000 6 0.000 0.063 2261 2765 3521 0 0 0 0 0 0

3283 -0.78 -146.0 357.8 -8.1 360 3290 0.10 0.00 0.00 0.000 6 0.118 0.000 2216 2766 3521 0 0 0 0 0 0

3609 -0.73 -146.0 392.2 -10.7 391 3613 0.00 2.30 0.00 0.000 4 0.000 0.051 2216 1362 3521 0 0 0 0 0 0

3656 -0.71 -146.0 397.1 -10.3 395 3661 0.15 2.38 0.00 0.000 6 0.170 0.062 2246 2759 3521 0 0 0 0 0 0

3992 -0.71 -146.0 427.3 -9.0 407 3996 0.00 2.25 0.00 0.000 4 0.000 0.051 2246 1370 3521 0 0 0 0 0 0

4026 -0.74 -146.0 430.8 -9.6 408 4031 0.00 2.33 0.00 0.000 6 0.000 0.062 2246 2752 3521 0 0 0 0 0 0

4358 -0.76 -146.0 459.9 -9.0 419 4359 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2752 3522 0 0 0 0 0 0

4663 -0.76 -146.0 487.5 -9.1 429 4667 0.00 2.28 0.00 0.000 4 0.000 0.050 2246 1360 3522 0 0 0 0 0 0

4686 -0.78 -146.0 489.8 -9.1 429 4690 0.00 2.35 0.00 0.000 6 0.000 0.061 2246 2757 3522 0 0 0 0 0 0

5001 -0.80 -146.0 517.4 -8.8 439 5002 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2757 3522 0 0 0 0 0 0

5306 -0.83 -146.0 544.7 -8.9 449 5311 0.12 2.28 0.00 0.000 4 0.102 0.050 2185 1369 3522 0 0 0 0 0 0

5338 -0.75 -146.0 548.6 -12.2 450 5343 0.20 2.33 0.00 0.000 6 0.170 0.061 2228 2741 3522 0 0 0 0 0 0

5669 -0.75 -146.0 581.3 -9.6 461 5670 0.00 0.00 0.00 0.000 6 0.000 0.000 2228 2741 3523 0 0 0 0 0 0

5978 -0.75 -146.0 610.8 -9.6 471 5979 0.00 0.00 0.00 0.000 6 0.000 0.000 2228 2742 3523 0 0 0 0 0 0

6281 -0.75 -146.0 640.0 -9.4 481 6284 0.00 2.05 0.00 0.000 4 0.000 0.071 2222 3929 3523 0 0 0 0 0 0

6309 -0.75 -146.0 642.9 -10.2 481 6316 0.00 1.95 0.00 0.000 6 0.000 0.047 2222 2736 3523 0 0 0 0 0 0

6410 end dive: BOTTOM_OBSTACLE_DETECTED

state 6410 begin apogee

6417 -0.14 0.0 652.5 9.8 485 6551 0.62 0.00 125.38 1.010 4 0.132 0.000 2422 2604 2922 0 0 0 0 0 0

6552 end apogee: CONTROL_FINISHED_OK

state 6552 begin climb

6555 0.57 146.0 657.1 0.0 489 6695 0.68 2.42 132.98 0.982 4 0.061 0.050 2665 1187 2327 0 0 0 0 0 0

6818 0.57 146.0 637.0 10.9 496 6823 0.00 2.50 0.00 0.000 6 0.000 0.056 2665 2608 2320 0 0 0 0 0 0

7133 0.51 146.0 599.8 12.2 506 7137 0.00 2.30 0.00 0.000 4 0.000 0.052 2666 1188 2316 0 0 0 0 0 0

7373 0.51 146.0 572.6 10.5 513 7378 0.00 2.35 0.00 0.000 6 0.000 0.057 2666 2602 2316 0 0 0 0 0 0

7699 0.45 146.0 534.3 11.9 524 7704 0.15 2.28 0.00 0.000 4 0.185 0.069 2626 3935 2315 0 0 0 0 0 0

7772 0.42 146.0 525.7 11.6 526 7776 0.00 2.17 0.00 0.000 6 0.000 0.045 2626 2602 2313 0 0 0 0 0 0

8109 0.43 168.0 494.9 9.0 537 8128 0.00 0.00 18.12 0.886 6 0.000 0.000 2625 2600 2237 0 0 0 0 0 0

8414 0.47 186.2 466.8 9.2 547 8433 0.00 0.00 17.40 0.869 6 0.000 0.000 2625 2601 2164 0 0 0 0 0 0

8722 0.51 188.9 436.9 9.9 557 8723 0.00 0.00 0.00 0.000 6 0.000 0.000 2626 2601 2159 0 0 0 0 0 0

9027 0.56 198.6 407.1 9.6 567 9041 0.00 0.00 11.62 0.822 6 0.000 0.000 2625 2601 2113 0 0 0 0 0 0

9343 0.61 199.7 376.5 9.9 591 9348 0.12 2.30 0.00 0.000 4 0.097 0.070 2684 3926 2110 0 0 0 0 0 0

9389 0.51 199.7 369.8 15.1 594 9396 0.17 2.12 0.00 0.000 6 0.181 0.045 2644 2609 2108 0 0 0 0 0 0

9715 0.53 204.0 335.3 9.8 625 9728 0.00 2.28 6.10 0.717 4 0.000 0.051 2644 1193 2090 0 0 0 0 0 0

9763 0.63 234.7 331.0 8.6 629 9798 0.10 2.33 28.42 0.805 6 0.111 0.057 2689 2616 1966 0 0 0 0 0 0

10117 0.60 234.7 287.1 11.7 662 10121 0.00 2.22 0.00 0.000 4 0.000 0.068 2689 3925 1960 0 0 0 0 0 0

10175 0.54 234.7 279.1 14.2 667 10180 0.15 2.12 0.00 0.000 6 0.183 0.046 2651 2611 1958 0 0 0 0 0 0

10506 0.59 234.7 247.2 10.1 698 10507 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2610 1958 0 0 0 0 0 0

10826 0.65 234.7 214.4 10.0 728 10831 0.10 2.25 0.00 0.000 4 0.112 0.069 2695 3928 1957 0 0 0 0 0 0

10857 0.61 234.7 210.5 14.1 730 10861 0.00 2.12 0.00 0.000 6 0.000 0.045 2697 2622 1957 0 0 0 0 0 0

11188 0.61 234.7 165.6 12.9 761 11192 0.00 2.33 0.00 0.000 4 0.000 0.054 2697 1194 1957 0 0 0 0 0 0

11233 0.65 234.7 160.2 11.9 764 11240 0.00 2.35 0.00 0.000 6 0.000 0.056 2697 2625 1957 0 0 0 0 0 0

11559 0.65 234.7 124.0 10.3 795 11563 0.00 2.22 0.00 0.000 4 0.000 0.070 2697 3930 1957 0 0 0 0 0 0

11618 0.60 234.7 117.0 13.2 800 11622 0.00 2.12 0.00 0.000 6 0.000 0.047 2697 2619 1956 0 0 0 0 0 0

11954 0.63 281.1 84.2 7.9 847 11996 0.00 0.00 39.62 0.679 6 0.000 0.000 2697 2618 1777 0 0 0 0 0 0

12337 0.73 326.0 49.1 7.9 914 12385 0.00 2.40 38.62 0.660 4 0.000 0.055 2697 1191 1592 0 0 0 0 0 0

12404 0.85 345.1 42.9 9.1 925 12430 0.15 2.38 17.92 0.643 6 0.090 0.058 2762 2626 1514 0 0 0 0 0 0

12656 end climb: FINISH_DEPTH_REACHED

state 12657 begin subsurface finish

12664 0.05 81.2 8.9 -12.8 969 12707 0.85 2.25 -34.28 0.000 4 0.145 0.086 2499 3927 2594 0 0 0 0 0 0

12707 end subsurface finish: CONTROL_FINISHED_OK

state 12708 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	796	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	33	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	-2	T_GPS_CHARGE	-12213.804	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	200111,202734,6648.676,-5942.916,0,7129.3,0,-38.2	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	9.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200111,202734,6648.676,-5942.916,0,7129.3,0,-38.2	MHEAD_RNG_PITCHd_Wd	292.8,32687,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	889

FREEZE	8.85,-1.747,-1.765,2,14,0	ALTIM_BOTTOM_PING	652.5,12.3
FINISH1	8.9,1.025845,81	_24V_AH	21.2,90.063
FINISH2	6.9	_10V_AH	9.7,61.623
RAFOS_CLK	734	FG_AHR_24Vo	0.000
RAFOS	0,1295568084,0.033333,0.023333,52,46,43,43,42,40,582,915,1291,1881,250,686	FG_AHR_10Vo	0.000
RAFOS_FIX	6647.594238,-5945.093262,210111,000024,5,117,0.17	MEM	151708
IRIDIUM_FIX	6641.98,-5833.70,170111,181821	DATA_FILE_SIZE	33436,976
TT8_MAMPS	0.028462	CAP_FILE_SIZE	127359,0
HUMID	49.80	CFSIZE	260165632,197509120
INTERNAL_PRESSURE	8.61208	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.00	SOUNDSPEED	1450.3
XPDR_PINGS	0	GPS	210111,003524,6647.594,-5945.093,0,5117.4,0,-38.2
ALTIM_TOP_PING	19.4,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	185	17.66	SBE_CT	681	24	346.57
Roll_motor	96	85	175.87	SBE_O2	0	0	0.00
VBD_pump_during_apogee	436	1009	9338.06	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	22.26	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2439	19	471.39
LPSleep	7920	2	177.48
TT8_Active	474	19	91.62
TT8_Sampling	1702	39	659.35
TT8_CF8	246	45	109.58
TT8_Kalman	0	0	0.00
Analog_circuits	1409	12	164.03
GPS_charging	0	0	0.00
Compass	1686	15	245.40
RAFOS	2520	3	73.33
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.57	-146.0	0.0	0.0	0	24	0.00	0.00	-5.47	0.000	2	0.000	0.000	2498	2642	2816	0	0	0	0	0	0
28	-0.57	-146.0	9.6	-0.0	1	53	0.55	2.15	-17.75	0.000	4	0.084	0.067	2295	1367	3522	0	0	0	0	0	0
83	-0.59	-146.0	13.2	-9.0	10	90	0.00	2.35	0.00	0.000	6	0.000	0.062	2290	2777	3523	0	0	0	0	0	0
430	-0.59	-146.0	60.8	-12.4	71	437	0.00	1.98	0.00	0.000	4	0.000	0.073	2282	3935	3522	0	0	0	0	0	0
457	-0.57	-146.0	64.0	-12.1	75	464	0.00	1.90	0.00	0.000	6	0.000	0.049	2282	2776	3523	0	0	0	0	0	0
805	-0.57	-146.0	108.1	-12.1	131	809	0.00	2.28	0.00	0.000	4	0.000	0.052	2282	1365	3522	0	0	0	0	0	0
872	-0.60	-146.0	115.7	-10.5	136	879	0.00	2.38	0.00	0.000	6	0.000	0.063	2279	2770	3522	0	0	0	0	0	0
1200	-0.62	-146.0	148.3	-8.5	167	1203	0.00	2.03	0.00	0.000	4	0.000	0.073	2273	3938	3522	0	0	0	0	0	0
1247	-0.66	-146.0	152.5	-8.8	171	1251	0.00	1.92	0.00	0.000	6	0.000	0.050	2273	2772	3522	0	0	0	0	0	0
1578	-0.68	-146.0	185.8	-10.6	202	1580	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	2772	3522	0	0	0	0	0	0
1902	-0.71	-146.0	216.7	-8.6	232	1906	0.00	2.28	0.00	0.000	4	0.000	0.051	2273	1362	3521	0	0	0	0	0	0
1936	-0.76	-146.0	220.1	-8.4	234	1943	0.12	2.40	0.00	0.000	6	0.102	0.063	2220	2773	3521	0	0	0	0	0	0
2262	-0.70	-146.0	259.0	-11.5	265	2263	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2773	3521	0	0	0	0	0	0
2583	-0.65	-146.0	297.3	-12.1	295	2590	0.15	0.00	0.00	0.000	6	0.172	0.000	2262	2773	3521	0	0	0	0	0	0
2909	-0.69	-146.0	326.9	-9.0	326	2913	0.00	2.30	0.00	0.000	4	0.000	0.052	2262	1370	3521	0	0	0	0	0	0
2955	-0.74	-146.0	331.1	-8.5	329	2962	0.00	2.38	0.00	0.000	6	0.000	0.063	2261	2765	3521	0	0	0	0	0	0
3283	-0.78	-146.0	357.8	-8.1	360	3290	0.10	0.00	0.00	0.000	6	0.118	0.000	2216	2766	3521	0	0	0	0	0	0
3609	-0.73	-146.0	392.2	-10.7	391	3613	0.00	2.30	0.00	0.000	4	0.000	0.051	2216	1362	3521	0	0	0	0	0	0
3656	-0.71	-146.0	397.1	-10.3	395	3661	0.15	2.38	0.00	0.000	6	0.170	0.062	2246	2759	3521	0	0	0	0	0	0
3992	-0.71	-146.0	427.3	-9.0	407	3996	0.00	2.25	0.00	0.000	4	0.000	0.051	2246	1370	3521	0	0	0	0	0	0
4026	-0.74	-146.0	430.8	-9.6	408	4031	0.00	2.33	0.00	0.000	6	0.000	0.062	2246	2752	3521	0	0	0	0	0	0
4358	-0.76	-146.0	459.9	-9.0	419	4359	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2752	3522	0	0	0	0	0	0
4663	-0.76	-146.0	487.5	-9.1	429	4667	0.00	2.28	0.00	0.000	4	0.000	0.050	2246	1360	3522	0	0	0	0	0	0
4686	-0.78	-146.0	489.8	-9.1	429	4690	0.00	2.35	0.00	0.000	6	0.000	0.061	2246	2757	3522	0	0	0	0	0	0
5001	-0.80	-146.0	517.4	-8.8	439	5002	0.00	0.00	0.00	0.000	6	0.000	0.000	2246	2757	3522	0	0	0	0	0	0
5306	-0.83	-146.0	544.7	-8.9	449	5311	0.12	2.28	0.00	0.000	4	0.102	0.050	2185	1369	3522	0	0	0	0	0	0
5338	-0.75	-146.0	548.6	-12.2	450	5343	0.20	2.33	0.00	0.000	6	0.170	0.061	2228	2741	3522	0	0	0	0	0	0
5669	-0.75	-146.0	581.3	-9.6	461	5670	0.00	0.00	0.00	0.000	6	0.000	0.000	2228	2741	3523	0	0	0	0	0	0
5978	-0.75	-146.0	610.8	-9.6	471	5979	0.00	0.00	0.00	0.000	6	0.000	0.000	2228	2742	3523	0	0	0	0	0	0
6281	-0.75	-146.0	640.0	-9.4	481	6284	0.00	2.05	0.00	0.000	4	0.000	0.071	2222	3929	3523	0	0	0	0	0	0
6309	-0.75	-146.0	642.9	-10.2	481	6316	0.00	1.95	0.00	0.000	6	0.000	0.047	2222	2736	3523	0	0	0	0	0	0
6410	end dive: BOTTOM_OBSTACLE_DETECTED
state	6410	begin apogee
6417	-0.14	0.0	652.5	9.8	485	6551	0.62	0.00	125.38	1.010	4	0.132	0.000	2422	2604	2922	0	0	0	0	0	0
6552	end apogee: CONTROL_FINISHED_OK
state	6552	begin climb
6555	0.57	146.0	657.1	0.0	489	6695	0.68	2.42	132.98	0.982	4	0.061	0.050	2665	1187	2327	0	0	0	0	0	0
6818	0.57	146.0	637.0	10.9	496	6823	0.00	2.50	0.00	0.000	6	0.000	0.056	2665	2608	2320	0	0	0	0	0	0
7133	0.51	146.0	599.8	12.2	506	7137	0.00	2.30	0.00	0.000	4	0.000	0.052	2666	1188	2316	0	0	0	0	0	0
7373	0.51	146.0	572.6	10.5	513	7378	0.00	2.35	0.00	0.000	6	0.000	0.057	2666	2602	2316	0	0	0	0	0	0
7699	0.45	146.0	534.3	11.9	524	7704	0.15	2.28	0.00	0.000	4	0.185	0.069	2626	3935	2315	0	0	0	0	0	0
7772	0.42	146.0	525.7	11.6	526	7776	0.00	2.17	0.00	0.000	6	0.000	0.045	2626	2602	2313	0	0	0	0	0	0
8109	0.43	168.0	494.9	9.0	537	8128	0.00	0.00	18.12	0.886	6	0.000	0.000	2625	2600	2237	0	0	0	0	0	0
8414	0.47	186.2	466.8	9.2	547	8433	0.00	0.00	17.40	0.869	6	0.000	0.000	2625	2601	2164	0	0	0	0	0	0
8722	0.51	188.9	436.9	9.9	557	8723	0.00	0.00	0.00	0.000	6	0.000	0.000	2626	2601	2159	0	0	0	0	0	0
9027	0.56	198.6	407.1	9.6	567	9041	0.00	0.00	11.62	0.822	6	0.000	0.000	2625	2601	2113	0	0	0	0	0	0
9343	0.61	199.7	376.5	9.9	591	9348	0.12	2.30	0.00	0.000	4	0.097	0.070	2684	3926	2110	0	0	0	0	0	0
9389	0.51	199.7	369.8	15.1	594	9396	0.17	2.12	0.00	0.000	6	0.181	0.045	2644	2609	2108	0	0	0	0	0	0
9715	0.53	204.0	335.3	9.8	625	9728	0.00	2.28	6.10	0.717	4	0.000	0.051	2644	1193	2090	0	0	0	0	0	0
9763	0.63	234.7	331.0	8.6	629	9798	0.10	2.33	28.42	0.805	6	0.111	0.057	2689	2616	1966	0	0	0	0	0	0
10117	0.60	234.7	287.1	11.7	662	10121	0.00	2.22	0.00	0.000	4	0.000	0.068	2689	3925	1960	0	0	0	0	0	0
10175	0.54	234.7	279.1	14.2	667	10180	0.15	2.12	0.00	0.000	6	0.183	0.046	2651	2611	1958	0	0	0	0	0	0
10506	0.59	234.7	247.2	10.1	698	10507	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2610	1958	0	0	0	0	0	0
10826	0.65	234.7	214.4	10.0	728	10831	0.10	2.25	0.00	0.000	4	0.112	0.069	2695	3928	1957	0	0	0	0	0	0
10857	0.61	234.7	210.5	14.1	730	10861	0.00	2.12	0.00	0.000	6	0.000	0.045	2697	2622	1957	0	0	0	0	0	0
11188	0.61	234.7	165.6	12.9	761	11192	0.00	2.33	0.00	0.000	4	0.000	0.054	2697	1194	1957	0	0	0	0	0	0
11233	0.65	234.7	160.2	11.9	764	11240	0.00	2.35	0.00	0.000	6	0.000	0.056	2697	2625	1957	0	0	0	0	0	0
11559	0.65	234.7	124.0	10.3	795	11563	0.00	2.22	0.00	0.000	4	0.000	0.070	2697	3930	1957	0	0	0	0	0	0
11618	0.60	234.7	117.0	13.2	800	11622	0.00	2.12	0.00	0.000	6	0.000	0.047	2697	2619	1956	0	0	0	0	0	0
11954	0.63	281.1	84.2	7.9	847	11996	0.00	0.00	39.62	0.679	6	0.000	0.000	2697	2618	1777	0	0	0	0	0	0
12337	0.73	326.0	49.1	7.9	914	12385	0.00	2.40	38.62	0.660	4	0.000	0.055	2697	1191	1592	0	0	0	0	0	0
12404	0.85	345.1	42.9	9.1	925	12430	0.15	2.38	17.92	0.643	6	0.090	0.058	2762	2626	1514	0	0	0	0	0	0
12656	end climb: FINISH_DEPTH_REACHED
state	12657	begin subsurface finish
12664	0.05	81.2	8.9	-12.8	969	12707	0.85	2.25	-34.28	0.000	4	0.145	0.086	2499	3927	2594	0	0	0	0	0	0
12707	end subsurface finish: CONTROL_FINISHED_OK
state	12708	begin surface