Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 80 * 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 0

MISSION 3 HEADING -1 ROLL_MAX 3931 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 80 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 20

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 50 SM_CC 350 R_PORT_OVSHOOT 38 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.89999998

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 2.5 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 440 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2923 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 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 8 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 -7790.1235 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE 117

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

D_OFFGRID 100 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 2 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 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 49 SIM_W 0

AH0_10V 100 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 350

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 20 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 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 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 311 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 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 5 HD_A 0.003 PROTOCOL 9 T_GPS 8

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 -7790.1235

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 0.30000001 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 -1

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 2923 LOGGERDEVICE3 -1 ROLL_MAX 3931 USE_ICE 0

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 21 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 80 NAV_MODE 2 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 8 SEABIRD_T_H 0.00062159239 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.0014088e-05 XPDR_VALID 3

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 1.6690842e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 220910,202757,6702.863,-5659.003,22,2.2,41,-37.6 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 1.16 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220910,203250,6702.859,-5659.042,13,1.3,13,-37.6 MHEAD_RNG_PITCHd_Wd 301.1,155378,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 653

Post-dive calculations and measurements:

FINISH 0.2,1.013334 _24V_AH 23.4,13.139

SM_CCo 13145,0.00,0.000,0,0,1375,379.23 _10V_AH 10.3,9.581

SM_GC 1.07,6.65,0.00,0.00,0.060,0.000,0.000,299,2789,1375,-6.74,0.25,379.23 FG_AHR_24Vo 0.000

RAFOS_CLK 653 FG_AHR_10Vo 0.000

RAFOS 3,1285187104,20.433332,20.417778,48,44,41,41,38,37,878,807,26,121,1090,1786 MEM 151604

RAFOS_FIX 6707.206055,-5659.667969,220910,202016,4,96,0.00 DATA_FILE_SIZE 53350,1292

IRIDIUM_FIX 6636.54,-5702.96,220910,171710 CAP_FILE_SIZE 136268,0

TT8_MAMPS 0.031458 CFSIZE 260165632,245325824

HUMID 48.81 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.62185 SOUNDSPEED 1466.3

TCM_TEMP 16.00 CURRENT 0.126, 11.5,1

XPDR_PINGS 0 GPS 230910,001400,6703.613,-5702.474,38,2.0,38,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 263 102.67 SBE_CT 899 24 504.95

Roll_motor 89 78 162.96 SBE_O2 974 19 433.40

VBD_pump_during_apogee 424 1011 10035.79 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 30 103 72.63 nil 0 0 0.00

Iridium_during_connect 35 160 133.54 nil 0 0 0.00

Iridium_during_xfer 113 223 593.77 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.73

TT8 3207 19 658.01

LPSleep 7331 2 174.45

TT8_Active 501 19 102.81

TT8_Sampling 2278 39 936.92

TT8_CF8 139 45 65.92

TT8_Kalman 0 0 0.00

Analog_circuits 1600 12 197.80

GPS_charging 0 0 0.00

Compass 2063 15 318.77

RAFOS 1800 3 55.62

Transponder 0 5 0.03

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

15 -0.57 -146.0 0.0 0.0 0 97 0.00 0.00 -79.88 0.000 2 0.000 0.000 296 2779 3261 0 0 0 0 0 0

99 -0.57 -146.0 5.2 -11.1 13 119 8.30 1.98 -5.12 0.000 4 0.264 0.078 2276 3940 3523 0 0 0 0 0 0

343 -0.57 -146.0 54.1 -12.6 56 349 0.00 1.85 0.00 0.000 6 0.000 0.042 2276 2776 3525 0 0 0 0 0 0

684 -0.57 -146.0 93.7 -11.4 117 691 0.00 2.20 0.00 0.000 4 0.000 0.046 2276 1370 3526 0 0 0 0 0 0

768 -0.57 -146.0 103.3 -10.8 129 776 0.00 2.30 0.00 0.000 6 0.000 0.057 2275 2771 3526 0 0 0 0 0 0

1094 -0.57 -146.0 142.5 -11.8 160 1095 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2771 3526 0 0 0 0 0 0

1412 -0.57 -146.0 175.4 -9.2 190 1416 0.00 1.88 0.00 0.000 4 0.000 0.067 2267 3929 3526 0 0 0 0 0 0

1435 -0.57 -146.0 177.6 -9.9 192 1439 0.00 1.83 0.00 0.000 6 0.000 0.042 2267 2752 3526 0 0 0 0 0 0

1766 -0.57 -146.0 209.2 -9.4 223 1767 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2751 3525 0 0 0 0 0 0

2085 -0.57 -146.0 239.7 -9.2 253 2086 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2751 3525 0 0 0 0 0 0

2405 -0.57 -146.0 270.0 -9.6 283 2406 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2751 3524 0 0 0 0 0 0

2722 -0.57 -146.0 298.3 -8.8 313 2723 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2751 3524 0 0 0 0 0 0

3040 -0.57 -146.0 326.3 -8.8 343 3044 0.00 1.92 0.00 0.000 4 0.000 0.068 2260 3936 3525 0 0 0 0 0 0

3063 -0.57 -146.0 328.4 -9.1 345 3067 0.12 1.85 0.00 0.000 6 0.172 0.043 2294 2750 3525 0 0 0 0 0 0

3392 -0.57 -146.0 350.6 -6.6 376 3396 0.00 2.12 0.00 0.000 4 0.000 0.046 2294 1369 3524 0 0 0 0 0 0

3413 -0.57 -146.0 352.1 -6.6 377 3421 0.00 2.25 0.00 0.000 6 0.000 0.057 2291 2761 3525 0 0 0 0 0 0

3739 -0.57 -146.0 375.5 -7.6 408 3741 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2761 3524 0 0 0 0 0 0

4059 -0.57 -146.0 399.0 -7.2 438 4061 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 2761 3524 0 0 0 0 0 0

4377 -0.57 -146.0 421.8 -6.8 468 4381 0.00 2.15 0.00 0.000 4 0.000 0.047 2291 1370 3523 0 0 0 0 0 0

4417 -0.57 -146.0 424.6 -6.9 471 4421 0.00 2.25 0.00 0.000 6 0.000 0.057 2289 2776 3523 0 0 0 0 0 0

4741 -0.57 -146.0 447.5 -7.1 501 4742 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 2776 3523 0 0 0 0 0 0

5061 -0.57 -146.0 469.8 -7.2 531 5065 0.00 2.17 0.00 0.000 4 0.000 0.046 2289 1370 3523 0 0 0 0 0 0

5092 -0.57 -146.0 472.4 -7.9 533 5100 0.00 2.25 0.00 0.000 6 0.000 0.057 2289 2757 3523 0 0 0 0 0 0

5418 -0.57 -146.0 494.8 -6.9 564 5422 0.00 1.92 0.00 0.000 4 0.000 0.069 2282 3926 3523 0 0 0 0 0 0

5452 -0.57 -146.0 497.4 -7.6 567 5456 0.00 1.85 0.00 0.000 6 0.000 0.044 2282 2756 3523 0 0 0 0 0 0

5782 -0.57 -146.0 521.3 -7.4 598 5786 0.00 1.92 0.00 0.000 4 0.000 0.070 2275 3928 3523 0 0 0 0 0 0

5809 -0.57 -146.0 523.5 -7.8 600 5816 0.00 1.85 0.00 0.000 6 0.000 0.044 2275 2759 3523 0 0 0 0 0 0

6135 -0.57 -146.0 548.7 -7.8 631 6138 0.00 2.15 0.00 0.000 4 0.000 0.047 2275 1364 3523 0 0 0 0 0 0

6166 -0.57 -146.0 551.5 -8.7 633 6174 0.00 2.25 0.00 0.000 6 0.000 0.057 2274 2755 3523 0 0 0 0 0 0

6494 -0.57 -146.0 576.8 -7.8 664 6497 0.00 1.90 0.00 0.000 4 0.000 0.069 2269 3936 3523 0 0 0 0 0 0

6520 -0.57 -146.0 579.3 -8.5 666 6528 0.00 1.88 0.00 0.000 6 0.000 0.044 2269 2747 3523 0 0 0 0 0 0

6844 -0.57 -146.0 605.2 -8.3 693 6845 0.00 0.00 0.00 0.000 6 0.000 0.000 2269 2747 3524 0 0 0 0 0 0

7149 -0.57 -146.0 629.9 -8.3 703 7151 0.00 0.00 0.00 0.000 6 0.000 0.000 2269 2747 3523 0 0 0 0 0 0

7454 end dive: TARGET_DEPTH_EXCEEDED

state 7454 begin apogee

7458 -0.14 0.0 654.1 7.8 713 7585 0.47 0.00 119.22 1.011 4 0.142 0.000 2425 2594 2922 0 0 0 0 0 0

7586 end apogee: CONTROL_FINISHED_OK

state 7586 begin climb

7587 0.57 146.0 656.3 0.0 717 7718 0.70 2.33 123.05 0.989 4 0.086 0.046 2663 1191 2327 0 0 0 0 0 0

7879 0.57 146.0 627.2 12.2 726 7885 0.00 2.40 0.00 0.000 6 0.000 0.052 2663 2601 2318 0 0 0 0 0 0

8198 0.57 146.0 586.5 12.9 741 8202 0.00 2.28 0.00 0.000 4 0.000 0.049 2670 1183 2314 0 0 0 0 0 0

8393 0.57 146.0 562.0 12.1 758 8397 0.00 2.33 0.00 0.000 6 0.000 0.053 2670 2610 2315 0 0 0 0 0 0

8723 0.57 146.0 518.0 13.4 789 8727 0.00 2.17 0.00 0.000 4 0.000 0.067 2670 3926 2312 0 0 0 0 0 0

8762 0.57 146.0 512.2 16.1 792 8766 0.00 2.12 0.00 0.000 6 0.000 0.044 2678 2600 2311 0 0 0 0 0 0

9086 0.57 146.0 467.2 14.0 822 9090 0.00 2.22 0.00 0.000 4 0.000 0.067 2678 3930 2311 0 0 0 0 0 0

9115 0.57 146.0 462.8 16.2 824 9119 0.00 2.10 0.00 0.000 6 0.000 0.044 2687 2612 2310 0 0 0 0 0 0

9439 0.57 146.0 414.9 15.3 854 9440 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2611 2310 0 0 0 0 0 0

9760 0.57 146.0 367.2 15.4 884 9764 0.00 2.17 0.00 0.000 4 0.000 0.068 2688 3932 2310 0 0 0 0 0 0

9803 0.57 146.0 359.1 17.8 887 9813 0.12 2.10 0.00 0.000 6 0.192 0.043 2661 2620 2309 0 0 0 0 0 0

10129 0.57 146.0 315.7 13.4 918 10130 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2619 2309 0 0 0 0 0 0

10449 0.57 146.0 274.3 13.0 948 10450 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2619 2309 0 0 0 0 0 0

10768 0.57 146.0 233.4 12.9 978 10772 0.00 2.15 0.00 0.000 4 0.000 0.067 2661 3934 2309 0 0 0 0 0 0

10863 0.57 146.0 219.4 15.5 986 10866 0.00 2.05 0.00 0.000 6 0.000 0.042 2666 2629 2308 0 0 0 0 0 0

11192 0.57 146.0 178.4 12.4 1017 11196 0.00 2.12 0.00 0.000 4 0.000 0.065 2666 3930 2308 0 0 0 0 0 0

11264 0.57 146.0 168.1 15.2 1023 11272 0.00 2.05 0.00 0.000 6 0.000 0.041 2673 2638 2308 0 0 0 0 0 0

11591 0.57 146.0 128.7 11.8 1054 11592 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2638 2308 0 0 0 0 0 0

11911 0.57 146.0 92.4 10.3 1090 11917 0.00 2.25 0.00 0.000 4 0.000 0.050 2682 1191 2310 0 0 0 0 0 0

11940 0.57 146.0 89.2 10.9 1095 11948 0.00 2.30 0.00 0.000 6 0.000 0.054 2682 2651 2309 0 0 0 0 0 0

12283 0.57 156.5 52.0 9.5 1156 12297 0.00 2.08 6.75 0.598 4 0.000 0.064 2682 3930 2286 0 0 0 0 0 0

12376 0.57 156.5 41.8 11.5 1172 12384 0.12 2.00 0.00 0.000 6 0.208 0.041 2661 2650 2285 0 0 0 0 0 0

12717 0.67 307.0 20.6 3.1 1233 12846 0.00 2.42 119.68 0.616 4 0.000 0.047 2661 1184 1669 0 0 0 0 0 0

12915 0.72 376.3 10.8 6.8 1266 12979 0.12 2.42 55.38 0.596 6 0.104 0.050 2711 2647 1388 0 0 0 0 0 0

13028 end climb: SURFACE_DEPTH_REACHED

state 13028 begin surface coast

13071 end surface coast: CONTROL_FINISHED_OK

state 13071 begin surface

ID	183	HD_C	9.9999997e-06	ROLL_MIN	330	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	HEADING	-1	ROLL_MAX	3931	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	80	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	20
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	50	SM_CC	350	R_PORT_OVSHOOT	38	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.89999998
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	2.5	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	440	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2923	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	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	8	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	-7790.1235	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	117
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
D_OFFGRID	100	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	2	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	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	220910,202757,6702.863,-5659.003,22,2.2,41,-37.6	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	1.16	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220910,203250,6702.859,-5659.042,13,1.3,13,-37.6	MHEAD_RNG_PITCHd_Wd	301.1,155378,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	653

FINISH	0.2,1.013334	_24V_AH	23.4,13.139
SM_CCo	13145,0.00,0.000,0,0,1375,379.23	_10V_AH	10.3,9.581
SM_GC	1.07,6.65,0.00,0.00,0.060,0.000,0.000,299,2789,1375,-6.74,0.25,379.23	FG_AHR_24Vo	0.000
RAFOS_CLK	653	FG_AHR_10Vo	0.000
RAFOS	3,1285187104,20.433332,20.417778,48,44,41,41,38,37,878,807,26,121,1090,1786	MEM	151604
RAFOS_FIX	6707.206055,-5659.667969,220910,202016,4,96,0.00	DATA_FILE_SIZE	53350,1292
IRIDIUM_FIX	6636.54,-5702.96,220910,171710	CAP_FILE_SIZE	136268,0
TT8_MAMPS	0.031458	CFSIZE	260165632,245325824
HUMID	48.81	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.62185	SOUNDSPEED	1466.3
TCM_TEMP	16.00	CURRENT	0.126, 11.5,1
XPDR_PINGS	0	GPS	230910,001400,6703.613,-5702.474,38,2.0,38,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	263	102.67	SBE_CT	899	24	504.95
Roll_motor	89	78	162.96	SBE_O2	974	19	433.40
VBD_pump_during_apogee	424	1011	10035.79	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	30	103	72.63	nil	0	0	0.00
Iridium_during_connect	35	160	133.54	nil	0	0	0.00
Iridium_during_xfer	113	223	593.77	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.73
TT8	3207	19	658.01
LPSleep	7331	2	174.45
TT8_Active	501	19	102.81
TT8_Sampling	2278	39	936.92
TT8_CF8	139	45	65.92
TT8_Kalman	0	0	0.00
Analog_circuits	1600	12	197.80
GPS_charging	0	0	0.00
Compass	2063	15	318.77
RAFOS	1800	3	55.62
Transponder	0	5	0.03

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
15	-0.57	-146.0	0.0	0.0	0	97	0.00	0.00	-79.88	0.000	2	0.000	0.000	296	2779	3261	0	0	0	0	0	0
99	-0.57	-146.0	5.2	-11.1	13	119	8.30	1.98	-5.12	0.000	4	0.264	0.078	2276	3940	3523	0	0	0	0	0	0
343	-0.57	-146.0	54.1	-12.6	56	349	0.00	1.85	0.00	0.000	6	0.000	0.042	2276	2776	3525	0	0	0	0	0	0
684	-0.57	-146.0	93.7	-11.4	117	691	0.00	2.20	0.00	0.000	4	0.000	0.046	2276	1370	3526	0	0	0	0	0	0
768	-0.57	-146.0	103.3	-10.8	129	776	0.00	2.30	0.00	0.000	6	0.000	0.057	2275	2771	3526	0	0	0	0	0	0
1094	-0.57	-146.0	142.5	-11.8	160	1095	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2771	3526	0	0	0	0	0	0
1412	-0.57	-146.0	175.4	-9.2	190	1416	0.00	1.88	0.00	0.000	4	0.000	0.067	2267	3929	3526	0	0	0	0	0	0
1435	-0.57	-146.0	177.6	-9.9	192	1439	0.00	1.83	0.00	0.000	6	0.000	0.042	2267	2752	3526	0	0	0	0	0	0
1766	-0.57	-146.0	209.2	-9.4	223	1767	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	2751	3525	0	0	0	0	0	0
2085	-0.57	-146.0	239.7	-9.2	253	2086	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	2751	3525	0	0	0	0	0	0
2405	-0.57	-146.0	270.0	-9.6	283	2406	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	2751	3524	0	0	0	0	0	0
2722	-0.57	-146.0	298.3	-8.8	313	2723	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	2751	3524	0	0	0	0	0	0
3040	-0.57	-146.0	326.3	-8.8	343	3044	0.00	1.92	0.00	0.000	4	0.000	0.068	2260	3936	3525	0	0	0	0	0	0
3063	-0.57	-146.0	328.4	-9.1	345	3067	0.12	1.85	0.00	0.000	6	0.172	0.043	2294	2750	3525	0	0	0	0	0	0
3392	-0.57	-146.0	350.6	-6.6	376	3396	0.00	2.12	0.00	0.000	4	0.000	0.046	2294	1369	3524	0	0	0	0	0	0
3413	-0.57	-146.0	352.1	-6.6	377	3421	0.00	2.25	0.00	0.000	6	0.000	0.057	2291	2761	3525	0	0	0	0	0	0
3739	-0.57	-146.0	375.5	-7.6	408	3741	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2761	3524	0	0	0	0	0	0
4059	-0.57	-146.0	399.0	-7.2	438	4061	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	2761	3524	0	0	0	0	0	0
4377	-0.57	-146.0	421.8	-6.8	468	4381	0.00	2.15	0.00	0.000	4	0.000	0.047	2291	1370	3523	0	0	0	0	0	0
4417	-0.57	-146.0	424.6	-6.9	471	4421	0.00	2.25	0.00	0.000	6	0.000	0.057	2289	2776	3523	0	0	0	0	0	0
4741	-0.57	-146.0	447.5	-7.1	501	4742	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	2776	3523	0	0	0	0	0	0
5061	-0.57	-146.0	469.8	-7.2	531	5065	0.00	2.17	0.00	0.000	4	0.000	0.046	2289	1370	3523	0	0	0	0	0	0
5092	-0.57	-146.0	472.4	-7.9	533	5100	0.00	2.25	0.00	0.000	6	0.000	0.057	2289	2757	3523	0	0	0	0	0	0
5418	-0.57	-146.0	494.8	-6.9	564	5422	0.00	1.92	0.00	0.000	4	0.000	0.069	2282	3926	3523	0	0	0	0	0	0
5452	-0.57	-146.0	497.4	-7.6	567	5456	0.00	1.85	0.00	0.000	6	0.000	0.044	2282	2756	3523	0	0	0	0	0	0
5782	-0.57	-146.0	521.3	-7.4	598	5786	0.00	1.92	0.00	0.000	4	0.000	0.070	2275	3928	3523	0	0	0	0	0	0
5809	-0.57	-146.0	523.5	-7.8	600	5816	0.00	1.85	0.00	0.000	6	0.000	0.044	2275	2759	3523	0	0	0	0	0	0
6135	-0.57	-146.0	548.7	-7.8	631	6138	0.00	2.15	0.00	0.000	4	0.000	0.047	2275	1364	3523	0	0	0	0	0	0
6166	-0.57	-146.0	551.5	-8.7	633	6174	0.00	2.25	0.00	0.000	6	0.000	0.057	2274	2755	3523	0	0	0	0	0	0
6494	-0.57	-146.0	576.8	-7.8	664	6497	0.00	1.90	0.00	0.000	4	0.000	0.069	2269	3936	3523	0	0	0	0	0	0
6520	-0.57	-146.0	579.3	-8.5	666	6528	0.00	1.88	0.00	0.000	6	0.000	0.044	2269	2747	3523	0	0	0	0	0	0
6844	-0.57	-146.0	605.2	-8.3	693	6845	0.00	0.00	0.00	0.000	6	0.000	0.000	2269	2747	3524	0	0	0	0	0	0
7149	-0.57	-146.0	629.9	-8.3	703	7151	0.00	0.00	0.00	0.000	6	0.000	0.000	2269	2747	3523	0	0	0	0	0	0
7454	end dive: TARGET_DEPTH_EXCEEDED
state	7454	begin apogee
7458	-0.14	0.0	654.1	7.8	713	7585	0.47	0.00	119.22	1.011	4	0.142	0.000	2425	2594	2922	0	0	0	0	0	0
7586	end apogee: CONTROL_FINISHED_OK
state	7586	begin climb
7587	0.57	146.0	656.3	0.0	717	7718	0.70	2.33	123.05	0.989	4	0.086	0.046	2663	1191	2327	0	0	0	0	0	0
7879	0.57	146.0	627.2	12.2	726	7885	0.00	2.40	0.00	0.000	6	0.000	0.052	2663	2601	2318	0	0	0	0	0	0
8198	0.57	146.0	586.5	12.9	741	8202	0.00	2.28	0.00	0.000	4	0.000	0.049	2670	1183	2314	0	0	0	0	0	0
8393	0.57	146.0	562.0	12.1	758	8397	0.00	2.33	0.00	0.000	6	0.000	0.053	2670	2610	2315	0	0	0	0	0	0
8723	0.57	146.0	518.0	13.4	789	8727	0.00	2.17	0.00	0.000	4	0.000	0.067	2670	3926	2312	0	0	0	0	0	0
8762	0.57	146.0	512.2	16.1	792	8766	0.00	2.12	0.00	0.000	6	0.000	0.044	2678	2600	2311	0	0	0	0	0	0
9086	0.57	146.0	467.2	14.0	822	9090	0.00	2.22	0.00	0.000	4	0.000	0.067	2678	3930	2311	0	0	0	0	0	0
9115	0.57	146.0	462.8	16.2	824	9119	0.00	2.10	0.00	0.000	6	0.000	0.044	2687	2612	2310	0	0	0	0	0	0
9439	0.57	146.0	414.9	15.3	854	9440	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2611	2310	0	0	0	0	0	0
9760	0.57	146.0	367.2	15.4	884	9764	0.00	2.17	0.00	0.000	4	0.000	0.068	2688	3932	2310	0	0	0	0	0	0
9803	0.57	146.0	359.1	17.8	887	9813	0.12	2.10	0.00	0.000	6	0.192	0.043	2661	2620	2309	0	0	0	0	0	0
10129	0.57	146.0	315.7	13.4	918	10130	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2619	2309	0	0	0	0	0	0
10449	0.57	146.0	274.3	13.0	948	10450	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2619	2309	0	0	0	0	0	0
10768	0.57	146.0	233.4	12.9	978	10772	0.00	2.15	0.00	0.000	4	0.000	0.067	2661	3934	2309	0	0	0	0	0	0
10863	0.57	146.0	219.4	15.5	986	10866	0.00	2.05	0.00	0.000	6	0.000	0.042	2666	2629	2308	0	0	0	0	0	0
11192	0.57	146.0	178.4	12.4	1017	11196	0.00	2.12	0.00	0.000	4	0.000	0.065	2666	3930	2308	0	0	0	0	0	0
11264	0.57	146.0	168.1	15.2	1023	11272	0.00	2.05	0.00	0.000	6	0.000	0.041	2673	2638	2308	0	0	0	0	0	0
11591	0.57	146.0	128.7	11.8	1054	11592	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2638	2308	0	0	0	0	0	0
11911	0.57	146.0	92.4	10.3	1090	11917	0.00	2.25	0.00	0.000	4	0.000	0.050	2682	1191	2310	0	0	0	0	0	0
11940	0.57	146.0	89.2	10.9	1095	11948	0.00	2.30	0.00	0.000	6	0.000	0.054	2682	2651	2309	0	0	0	0	0	0
12283	0.57	156.5	52.0	9.5	1156	12297	0.00	2.08	6.75	0.598	4	0.000	0.064	2682	3930	2286	0	0	0	0	0	0
12376	0.57	156.5	41.8	11.5	1172	12384	0.12	2.00	0.00	0.000	6	0.208	0.041	2661	2650	2285	0	0	0	0	0	0
12717	0.67	307.0	20.6	3.1	1233	12846	0.00	2.42	119.68	0.616	4	0.000	0.047	2661	1184	1669	0	0	0	0	0	0
12915	0.72	376.3	10.8	6.8	1266	12979	0.12	2.42	55.38	0.596	6	0.104	0.050	2711	2647	1388	0	0	0	0	0	0
13028	end climb: SURFACE_DEPTH_REACHED
state	13028	begin surface coast
13071	end surface coast: CONTROL_FINISHED_OK
state	13071	begin surface