Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 81 * 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 81 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 40 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 28 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 -7791.3804 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 -7791.3804

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 40 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 28 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 81 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 230910,001400,6703.613,-5702.474,38,2.0,38,-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 1.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230910,001840,6703.641,-5702.462,11,2.1,30,-37.6 MHEAD_RNG_PITCHd_Wd 267.9,153279,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 656

Post-dive calculations and measurements:

FINISH 0.1,1.019458 _24V_AH 23.3,13.231

SM_CCo 13108,52.45,0.082,0,0,1496,350.04 _10V_AH 10.3,9.662

SM_GC 0.83,0.00,0.00,52.45,0.000,0.000,0.082,303,2790,1496,-6.79,0.28,350.04 FG_AHR_24Vo 0.000

RAFOS_CLK 669 FG_AHR_10Vo 0.000

RAFOS 1,1285200541,0.166667,0.150278,53,44,44,42,41,39,884,490,792,1906,1187,1346 MEM 151680

RAFOS_FIX 6705.055176,-5703.604980,230910,000051,5,99,3.24 DATA_FILE_SIZE 50010,1296

IRIDIUM_FIX 6636.54,-5702.96,220910,202027 CAP_FILE_SIZE 135247,0

TT8_MAMPS 0.028462 CFSIZE 260165632,245256192

HUMID 49.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.64138 SOUNDSPEED 1465.2

TCM_TEMP 16.10 CURRENT 0.214,319.8,1

XPDR_PINGS 0 GPS 230910,040007,6703.803,-5707.962,35,1.5,35,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 264 100.22 SBE_CT 906 24 507.02

Roll_motor 84 78 153.22 SBE_O2 969 19 429.23

VBD_pump_during_apogee 317 1017 7527.43 nil 0 0 0.00

VBD_pump_during_surface 52 81 100.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 61.46 nil 0 0 0.00

Iridium_during_connect 13 160 50.85 nil 0 0 0.00

Iridium_during_xfer 115 223 599.94 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 50 17.62

TT8 3321 19 681.50

LPSleep 7239 2 172.25

TT8_Active 483 19 99.16

TT8_Sampling 2290 39 941.67

TT8_CF8 128 45 60.66

TT8_Kalman 0 0 0.00

Analog_circuits 1575 12 194.70

GPS_charging 0 0 0.00

Compass 2087 15 322.46

RAFOS 1440 3 44.50

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.57 -146.0 0.0 0.0 0 107 0.00 0.00 -90.15 0.000 2 0.000 0.000 296 2790 3408 0 0 0 0 0 0

109 -0.57 -146.0 6.3 -15.3 15 130 8.38 1.92 -2.10 0.000 4 0.265 0.076 2279 3931 3522 0 0 0 0 0 0

264 -0.57 -146.0 46.7 -13.1 42 270 0.00 1.85 0.00 0.000 6 0.000 0.044 2278 2779 3524 0 0 0 0 0 0

608 -0.57 -146.0 85.6 -10.9 103 614 0.00 0.00 0.00 0.000 6 0.000 0.000 2278 2778 3525 0 0 0 0 0 0

946 -0.57 -146.0 121.9 -10.6 146 949 0.00 1.90 0.00 0.000 4 0.000 0.069 2272 3929 3525 0 0 0 0 0 0

972 -0.57 -146.0 125.1 -10.6 148 980 0.00 1.83 0.00 0.000 6 0.000 0.043 2272 2791 3525 0 0 0 0 0 0

1297 -0.57 -146.0 158.7 -10.0 179 1301 0.00 2.20 0.00 0.000 4 0.000 0.046 2272 1369 3524 0 0 0 0 0 0

1346 -0.57 -146.0 163.6 -9.9 183 1354 0.00 2.33 0.00 0.000 6 0.000 0.057 2265 2782 3524 0 0 0 0 0 0

1672 -0.57 -146.0 196.9 -10.3 214 1676 0.00 1.90 0.00 0.000 4 0.000 0.069 2259 3925 3524 0 0 0 0 0 0

1710 -0.57 -146.0 201.1 -10.8 217 1719 0.12 1.80 0.00 0.000 6 0.174 0.044 2292 2782 3523 0 0 0 0 0 0

2035 -0.57 -146.0 227.8 -7.8 248 2039 0.00 2.20 0.00 0.000 4 0.000 0.047 2291 1367 3523 0 0 0 0 0 0

2097 -0.57 -146.0 232.7 -7.5 253 2101 0.00 2.25 0.00 0.000 6 0.000 0.057 2289 2777 3523 0 0 0 0 0 0

2422 -0.57 -146.0 257.0 -7.7 283 2425 0.00 1.88 0.00 0.000 4 0.000 0.068 2282 3936 3523 0 0 0 0 0 0

2460 -0.57 -146.0 260.0 -8.5 286 2467 0.00 1.85 0.00 0.000 6 0.000 0.043 2282 2771 3523 0 0 0 0 0 0

2785 -0.57 -146.0 284.9 -7.2 317 2789 0.00 2.15 0.00 0.000 4 0.000 0.046 2282 1371 3523 0 0 0 0 0 0

2829 -0.57 -146.0 288.3 -7.2 321 2833 0.00 2.22 0.00 0.000 6 0.000 0.057 2279 2768 3523 0 0 0 0 0 0

3154 -0.57 -146.0 312.9 -7.5 351 3155 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2768 3523 0 0 0 0 0 0

3473 -0.57 -146.0 337.4 -7.8 381 3477 0.00 2.15 0.00 0.000 4 0.000 0.045 2278 1367 3524 0 0 0 0 0 0

3500 -0.57 -146.0 339.7 -7.7 383 3507 0.00 2.25 0.00 0.000 6 0.000 0.057 2276 2758 3524 0 0 0 0 0 0

3827 -0.57 -146.0 365.4 -8.3 414 3828 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2758 3524 0 0 0 0 0 0

4144 -0.57 -146.0 391.9 -7.9 444 4146 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2758 3524 0 0 0 0 0 0

4464 -0.57 -146.0 417.9 -8.3 474 4465 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2758 3523 0 0 0 0 0 0

4782 -0.57 -146.0 444.9 -8.5 504 4783 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2758 3523 0 0 0 0 0 0

5101 -0.57 -146.0 471.6 -8.2 534 5105 0.00 1.90 0.00 0.000 4 0.000 0.070 2268 3936 3523 0 0 0 0 0 0

5147 -0.57 -146.0 475.7 -9.0 538 5151 0.00 1.85 0.00 0.000 6 0.000 0.044 2268 2768 3523 0 0 0 0 0 0

5476 -0.57 -146.0 504.4 -9.3 569 5478 0.00 0.00 0.00 0.000 6 0.000 0.000 2269 2768 3523 0 0 0 0 0 0

5796 -0.57 -146.0 531.7 -8.5 599 5797 0.00 0.00 0.00 0.000 6 0.000 0.000 2269 2768 3523 0 0 0 0 0 0

6115 -0.57 -146.0 558.6 -8.8 629 6116 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2768 3522 0 0 0 0 0 0

6433 -0.57 -146.0 585.6 -8.3 659 6434 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2768 3522 0 0 0 0 0 0

6766 -0.57 -146.0 612.9 -8.3 681 6767 0.00 0.00 0.00 0.000 6 0.000 0.000 2269 2768 3521 0 0 0 0 0 0

7072 -0.57 -146.0 637.9 -8.3 691 7076 0.00 1.92 0.00 0.000 4 0.000 0.073 2262 3919 3521 0 0 0 0 0 0

7107 -0.57 -146.0 640.9 -9.1 692 7110 0.00 1.80 0.00 0.000 6 0.000 0.046 2262 2770 3521 0 0 0 0 0 0

7293 end dive: TARGET_DEPTH_EXCEEDED

state 7293 begin apogee

7297 -0.14 0.0 657.6 9.0 698 7424 0.50 0.00 118.97 1.017 4 0.145 0.000 2426 2600 2922 0 0 0 0 0 0

7424 end apogee: CONTROL_FINISHED_OK

state 7424 begin climb

7426 0.57 146.0 660.9 0.0 702 7557 0.68 2.35 123.60 0.992 4 0.086 0.047 2654 1193 2327 0 0 0 0 0 0

7720 0.57 146.0 634.7 10.4 711 7724 0.00 2.40 0.00 0.000 6 0.000 0.055 2654 2606 2318 0 0 0 0 0 0

8039 0.57 146.0 596.2 11.9 723 8043 0.00 2.30 0.00 0.000 4 0.000 0.050 2663 1189 2314 0 0 0 0 0 0

8221 0.57 146.0 575.1 12.2 739 8229 0.00 2.38 0.00 0.000 6 0.000 0.056 2663 2611 2314 0 0 0 0 0 0

8548 0.57 146.0 536.1 12.0 770 8551 0.00 2.20 0.00 0.000 4 0.000 0.068 2663 3926 2312 0 0 0 0 0 0

8603 0.57 146.0 528.2 15.9 775 8607 0.00 2.10 0.00 0.000 6 0.000 0.044 2670 2604 2311 0 0 0 0 0 0

8933 0.57 146.0 487.0 12.4 806 8938 0.00 2.20 0.00 0.000 4 0.000 0.068 2670 3929 2311 0 0 0 0 0 0

8965 0.57 146.0 482.1 14.7 808 8973 0.00 2.12 0.00 0.000 6 0.000 0.044 2678 2614 2310 0 0 0 0 0 0

9291 0.57 146.0 438.6 13.6 839 9295 0.00 2.20 0.00 0.000 4 0.000 0.069 2678 3936 2310 0 0 0 0 0 0

9329 0.57 146.0 432.7 15.9 842 9336 0.00 2.10 0.00 0.000 6 0.000 0.044 2688 2614 2310 0 0 0 0 0 0

9654 0.57 146.0 387.3 13.9 873 9655 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2614 2309 0 0 0 0 0 0

9973 0.57 146.0 343.0 14.1 903 9977 0.00 2.15 0.00 0.000 4 0.000 0.067 2688 3926 2309 0 0 0 0 0 0

10029 0.57 146.0 334.0 16.5 908 10033 0.15 2.03 0.00 0.000 6 0.213 0.044 2661 2631 2309 0 0 0 0 0 0

10358 0.57 146.0 292.7 13.0 939 10359 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2630 2308 0 0 0 0 0 0

10677 0.57 146.0 252.9 12.8 969 10681 0.00 2.15 0.00 0.000 4 0.000 0.068 2661 3936 2309 0 0 0 0 0 0

10736 0.57 146.0 244.0 14.7 974 10744 0.00 2.08 0.00 0.000 6 0.000 0.043 2666 2637 2308 0 0 0 0 0 0

11061 0.57 146.0 201.5 12.9 1005 11065 0.00 2.28 0.00 0.000 4 0.000 0.051 2667 1181 2308 0 0 0 0 0 0

11093 0.57 146.0 197.5 12.0 1007 11101 0.00 2.35 0.00 0.000 6 0.000 0.054 2666 2640 2308 0 0 0 0 0 0

11419 0.57 146.0 156.7 12.5 1038 11420 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2640 2308 0 0 0 0 0 0

11740 0.57 146.0 117.5 11.8 1068 11743 0.00 2.10 0.00 0.000 4 0.000 0.065 2667 3930 2308 0 0 0 0 0 0

11799 0.57 146.0 108.9 14.6 1073 11809 0.00 2.05 0.00 0.000 6 0.000 0.041 2673 2632 2308 0 0 0 0 0 0

12137 0.57 146.0 72.1 10.9 1127 12143 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2632 2308 0 0 0 0 0 0

12479 0.57 156.0 39.7 9.5 1188 12494 0.00 2.15 6.75 0.595 4 0.000 0.063 2672 3933 2285 0 0 0 0 0 0

12634 0.62 225.2 26.5 6.8 1215 12696 0.00 1.98 55.78 0.625 6 0.000 0.041 2680 2655 2004 0 0 0 0 0 0

13029 0.67 310.5 3.3 6.1 1285 13044 0.00 0.00 12.43 0.604 2 0.000 0.000 2679 2655 1937 0 0 0 0 0 0

13045 end climb: SURFACE_DEPTH_REACHED

state 13045 begin surface coast

13095 end surface coast: CONTROL_FINISHED_OK

state 13095 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	81	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	40	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	28	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	-7791.3804	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	230910,001400,6703.613,-5702.474,38,2.0,38,-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	1.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230910,001840,6703.641,-5702.462,11,2.1,30,-37.6	MHEAD_RNG_PITCHd_Wd	267.9,153279,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	656

FINISH	0.1,1.019458	_24V_AH	23.3,13.231
SM_CCo	13108,52.45,0.082,0,0,1496,350.04	_10V_AH	10.3,9.662
SM_GC	0.83,0.00,0.00,52.45,0.000,0.000,0.082,303,2790,1496,-6.79,0.28,350.04	FG_AHR_24Vo	0.000
RAFOS_CLK	669	FG_AHR_10Vo	0.000
RAFOS	1,1285200541,0.166667,0.150278,53,44,44,42,41,39,884,490,792,1906,1187,1346	MEM	151680
RAFOS_FIX	6705.055176,-5703.604980,230910,000051,5,99,3.24	DATA_FILE_SIZE	50010,1296
IRIDIUM_FIX	6636.54,-5702.96,220910,202027	CAP_FILE_SIZE	135247,0
TT8_MAMPS	0.028462	CFSIZE	260165632,245256192
HUMID	49.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.64138	SOUNDSPEED	1465.2
TCM_TEMP	16.10	CURRENT	0.214,319.8,1
XPDR_PINGS	0	GPS	230910,040007,6703.803,-5707.962,35,1.5,35,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	264	100.22	SBE_CT	906	24	507.02
Roll_motor	84	78	153.22	SBE_O2	969	19	429.23
VBD_pump_during_apogee	317	1017	7527.43	nil	0	0	0.00
VBD_pump_during_surface	52	81	100.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	61.46	nil	0	0	0.00
Iridium_during_connect	13	160	50.85	nil	0	0	0.00
Iridium_during_xfer	115	223	599.94	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	50	17.62
TT8	3321	19	681.50
LPSleep	7239	2	172.25
TT8_Active	483	19	99.16
TT8_Sampling	2290	39	941.67
TT8_CF8	128	45	60.66
TT8_Kalman	0	0	0.00
Analog_circuits	1575	12	194.70
GPS_charging	0	0	0.00
Compass	2087	15	322.46
RAFOS	1440	3	44.50
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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.57	-146.0	0.0	0.0	0	107	0.00	0.00	-90.15	0.000	2	0.000	0.000	296	2790	3408	0	0	0	0	0	0
109	-0.57	-146.0	6.3	-15.3	15	130	8.38	1.92	-2.10	0.000	4	0.265	0.076	2279	3931	3522	0	0	0	0	0	0
264	-0.57	-146.0	46.7	-13.1	42	270	0.00	1.85	0.00	0.000	6	0.000	0.044	2278	2779	3524	0	0	0	0	0	0
608	-0.57	-146.0	85.6	-10.9	103	614	0.00	0.00	0.00	0.000	6	0.000	0.000	2278	2778	3525	0	0	0	0	0	0
946	-0.57	-146.0	121.9	-10.6	146	949	0.00	1.90	0.00	0.000	4	0.000	0.069	2272	3929	3525	0	0	0	0	0	0
972	-0.57	-146.0	125.1	-10.6	148	980	0.00	1.83	0.00	0.000	6	0.000	0.043	2272	2791	3525	0	0	0	0	0	0
1297	-0.57	-146.0	158.7	-10.0	179	1301	0.00	2.20	0.00	0.000	4	0.000	0.046	2272	1369	3524	0	0	0	0	0	0
1346	-0.57	-146.0	163.6	-9.9	183	1354	0.00	2.33	0.00	0.000	6	0.000	0.057	2265	2782	3524	0	0	0	0	0	0
1672	-0.57	-146.0	196.9	-10.3	214	1676	0.00	1.90	0.00	0.000	4	0.000	0.069	2259	3925	3524	0	0	0	0	0	0
1710	-0.57	-146.0	201.1	-10.8	217	1719	0.12	1.80	0.00	0.000	6	0.174	0.044	2292	2782	3523	0	0	0	0	0	0
2035	-0.57	-146.0	227.8	-7.8	248	2039	0.00	2.20	0.00	0.000	4	0.000	0.047	2291	1367	3523	0	0	0	0	0	0
2097	-0.57	-146.0	232.7	-7.5	253	2101	0.00	2.25	0.00	0.000	6	0.000	0.057	2289	2777	3523	0	0	0	0	0	0
2422	-0.57	-146.0	257.0	-7.7	283	2425	0.00	1.88	0.00	0.000	4	0.000	0.068	2282	3936	3523	0	0	0	0	0	0
2460	-0.57	-146.0	260.0	-8.5	286	2467	0.00	1.85	0.00	0.000	6	0.000	0.043	2282	2771	3523	0	0	0	0	0	0
2785	-0.57	-146.0	284.9	-7.2	317	2789	0.00	2.15	0.00	0.000	4	0.000	0.046	2282	1371	3523	0	0	0	0	0	0
2829	-0.57	-146.0	288.3	-7.2	321	2833	0.00	2.22	0.00	0.000	6	0.000	0.057	2279	2768	3523	0	0	0	0	0	0
3154	-0.57	-146.0	312.9	-7.5	351	3155	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	2768	3523	0	0	0	0	0	0
3473	-0.57	-146.0	337.4	-7.8	381	3477	0.00	2.15	0.00	0.000	4	0.000	0.045	2278	1367	3524	0	0	0	0	0	0
3500	-0.57	-146.0	339.7	-7.7	383	3507	0.00	2.25	0.00	0.000	6	0.000	0.057	2276	2758	3524	0	0	0	0	0	0
3827	-0.57	-146.0	365.4	-8.3	414	3828	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2758	3524	0	0	0	0	0	0
4144	-0.57	-146.0	391.9	-7.9	444	4146	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2758	3524	0	0	0	0	0	0
4464	-0.57	-146.0	417.9	-8.3	474	4465	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2758	3523	0	0	0	0	0	0
4782	-0.57	-146.0	444.9	-8.5	504	4783	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2758	3523	0	0	0	0	0	0
5101	-0.57	-146.0	471.6	-8.2	534	5105	0.00	1.90	0.00	0.000	4	0.000	0.070	2268	3936	3523	0	0	0	0	0	0
5147	-0.57	-146.0	475.7	-9.0	538	5151	0.00	1.85	0.00	0.000	6	0.000	0.044	2268	2768	3523	0	0	0	0	0	0
5476	-0.57	-146.0	504.4	-9.3	569	5478	0.00	0.00	0.00	0.000	6	0.000	0.000	2269	2768	3523	0	0	0	0	0	0
5796	-0.57	-146.0	531.7	-8.5	599	5797	0.00	0.00	0.00	0.000	6	0.000	0.000	2269	2768	3523	0	0	0	0	0	0
6115	-0.57	-146.0	558.6	-8.8	629	6116	0.00	0.00	0.00	0.000	6	0.000	0.000	2268	2768	3522	0	0	0	0	0	0
6433	-0.57	-146.0	585.6	-8.3	659	6434	0.00	0.00	0.00	0.000	6	0.000	0.000	2268	2768	3522	0	0	0	0	0	0
6766	-0.57	-146.0	612.9	-8.3	681	6767	0.00	0.00	0.00	0.000	6	0.000	0.000	2269	2768	3521	0	0	0	0	0	0
7072	-0.57	-146.0	637.9	-8.3	691	7076	0.00	1.92	0.00	0.000	4	0.000	0.073	2262	3919	3521	0	0	0	0	0	0
7107	-0.57	-146.0	640.9	-9.1	692	7110	0.00	1.80	0.00	0.000	6	0.000	0.046	2262	2770	3521	0	0	0	0	0	0
7293	end dive: TARGET_DEPTH_EXCEEDED
state	7293	begin apogee
7297	-0.14	0.0	657.6	9.0	698	7424	0.50	0.00	118.97	1.017	4	0.145	0.000	2426	2600	2922	0	0	0	0	0	0
7424	end apogee: CONTROL_FINISHED_OK
state	7424	begin climb
7426	0.57	146.0	660.9	0.0	702	7557	0.68	2.35	123.60	0.992	4	0.086	0.047	2654	1193	2327	0	0	0	0	0	0
7720	0.57	146.0	634.7	10.4	711	7724	0.00	2.40	0.00	0.000	6	0.000	0.055	2654	2606	2318	0	0	0	0	0	0
8039	0.57	146.0	596.2	11.9	723	8043	0.00	2.30	0.00	0.000	4	0.000	0.050	2663	1189	2314	0	0	0	0	0	0
8221	0.57	146.0	575.1	12.2	739	8229	0.00	2.38	0.00	0.000	6	0.000	0.056	2663	2611	2314	0	0	0	0	0	0
8548	0.57	146.0	536.1	12.0	770	8551	0.00	2.20	0.00	0.000	4	0.000	0.068	2663	3926	2312	0	0	0	0	0	0
8603	0.57	146.0	528.2	15.9	775	8607	0.00	2.10	0.00	0.000	6	0.000	0.044	2670	2604	2311	0	0	0	0	0	0
8933	0.57	146.0	487.0	12.4	806	8938	0.00	2.20	0.00	0.000	4	0.000	0.068	2670	3929	2311	0	0	0	0	0	0
8965	0.57	146.0	482.1	14.7	808	8973	0.00	2.12	0.00	0.000	6	0.000	0.044	2678	2614	2310	0	0	0	0	0	0
9291	0.57	146.0	438.6	13.6	839	9295	0.00	2.20	0.00	0.000	4	0.000	0.069	2678	3936	2310	0	0	0	0	0	0
9329	0.57	146.0	432.7	15.9	842	9336	0.00	2.10	0.00	0.000	6	0.000	0.044	2688	2614	2310	0	0	0	0	0	0
9654	0.57	146.0	387.3	13.9	873	9655	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2614	2309	0	0	0	0	0	0
9973	0.57	146.0	343.0	14.1	903	9977	0.00	2.15	0.00	0.000	4	0.000	0.067	2688	3926	2309	0	0	0	0	0	0
10029	0.57	146.0	334.0	16.5	908	10033	0.15	2.03	0.00	0.000	6	0.213	0.044	2661	2631	2309	0	0	0	0	0	0
10358	0.57	146.0	292.7	13.0	939	10359	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2630	2308	0	0	0	0	0	0
10677	0.57	146.0	252.9	12.8	969	10681	0.00	2.15	0.00	0.000	4	0.000	0.068	2661	3936	2309	0	0	0	0	0	0
10736	0.57	146.0	244.0	14.7	974	10744	0.00	2.08	0.00	0.000	6	0.000	0.043	2666	2637	2308	0	0	0	0	0	0
11061	0.57	146.0	201.5	12.9	1005	11065	0.00	2.28	0.00	0.000	4	0.000	0.051	2667	1181	2308	0	0	0	0	0	0
11093	0.57	146.0	197.5	12.0	1007	11101	0.00	2.35	0.00	0.000	6	0.000	0.054	2666	2640	2308	0	0	0	0	0	0
11419	0.57	146.0	156.7	12.5	1038	11420	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2640	2308	0	0	0	0	0	0
11740	0.57	146.0	117.5	11.8	1068	11743	0.00	2.10	0.00	0.000	4	0.000	0.065	2667	3930	2308	0	0	0	0	0	0
11799	0.57	146.0	108.9	14.6	1073	11809	0.00	2.05	0.00	0.000	6	0.000	0.041	2673	2632	2308	0	0	0	0	0	0
12137	0.57	146.0	72.1	10.9	1127	12143	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2632	2308	0	0	0	0	0	0
12479	0.57	156.0	39.7	9.5	1188	12494	0.00	2.15	6.75	0.595	4	0.000	0.063	2672	3933	2285	0	0	0	0	0	0
12634	0.62	225.2	26.5	6.8	1215	12696	0.00	1.98	55.78	0.625	6	0.000	0.041	2680	2655	2004	0	0	0	0	0	0
13029	0.67	310.5	3.3	6.1	1285	13044	0.00	0.00	12.43	0.604	2	0.000	0.000	2679	2655	1937	0	0	0	0	0	0
13045	end climb: SURFACE_DEPTH_REACHED
state	13045	begin surface coast
13095	end surface coast: CONTROL_FINISHED_OK
state	13095	begin surface