Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 811 * 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 811 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 31 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 23 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 -12952.191 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 -12952.191

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 31 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 23 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 811 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 220111,201924,6642.362,-6003.548,0,5095.6,0,-38.2 TGT_NAME TARGET_E

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 8.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -2.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220111,201924,6642.362,-6003.548,0,5095.6,0,-38.2 MHEAD_RNG_PITCHd_Wd 113.1,146295,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 619

Post-dive calculations and measurements:

FREEZE 8.88,-1.762,-1.762,2,29,0 ALTIM_BOTTOM_PING 600.2,11.9

FINISH1 8.9,1.025806,83 _24V_AH 21.2,91.663

FINISH2 6.5 _10V_AH 9.6,62.522

RAFOS_CLK 664 FG_AHR_24Vo 0.000

RAFOS 0,1295740866,0.033333,0.018333,87,43,42,41,41,39,655,1670,26,270,1114,1295 FG_AHR_10Vo 0.000

RAFOS_FIX 6641.532227,-5956.771973,230111,000025,7,110,0.35 MEM 151680

IRIDIUM_FIX 6636.54,-5836.58,180111,000051 DATA_FILE_SIZE 33311,910

TT8_MAMPS 0.029211 CAP_FILE_SIZE 118075,0

HUMID 49.84 CFSIZE 260165632,196616192

INTERNAL_PRESSURE 8.60232 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.00 SOUNDSPEED 1449.5

XPDR_PINGS 0 GPS 230111,002725,6641.532,-5956.772,0,7110.0,0,-38.2

ALTIM_TOP_PING 19.3,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 181 16.34 SBE_CT 635 24 323.13

Roll_motor 104 112 249.19 SBE_O2 0 0 0.00

VBD_pump_during_apogee 409 983 8538.72 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 20.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2283 19 436.59

LPSleep 6856 2 152.05

TT8_Active 441 19 84.37

TT8_Sampling 1543 39 591.36

TT8_CF8 243 45 107.33

TT8_Kalman 0 0 0.00

Analog_circuits 1311 12 151.14

GPS_charging 0 0 0.00

Compass 1530 15 220.42

RAFOS 2160 3 62.21

Transponder 17 30 5.15

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 -5.50 0.000 2 0.000 0.000 2499 2573 2813 0 0 0 0 0 0

28 -0.57 -146.0 10.5 -0.0 1 53 0.55 2.40 -16.23 0.000 4 0.081 0.087 2288 3925 3523 0 0 0 0 0 0

94 -0.57 -146.0 18.2 -13.8 12 101 0.00 1.88 0.00 0.000 6 0.000 0.048 2288 2778 3523 0 0 0 0 0 0

440 -0.57 -146.0 63.7 -12.8 73 446 0.00 2.30 0.00 0.000 4 0.000 0.051 2288 1367 3523 0 0 0 0 0 0

495 -0.60 -146.0 70.3 -11.6 82 502 0.00 2.38 0.00 0.000 6 0.000 0.063 2288 2777 3523 0 0 0 0 0 0

842 -0.63 -146.0 111.2 -11.2 135 846 0.00 1.98 0.00 0.000 4 0.000 0.075 2286 3928 3522 0 0 0 0 0 0

870 -0.65 -146.0 114.7 -10.8 137 876 0.00 1.88 0.00 0.000 6 0.000 0.050 2286 2789 3522 0 0 0 0 0 0

1197 -0.68 -146.0 148.8 -9.6 168 1202 0.00 2.30 0.00 0.000 4 0.000 0.052 2286 1369 3522 0 0 0 0 0 0

1283 -0.74 -146.0 157.4 -10.1 175 1288 0.15 2.40 0.00 0.000 6 0.093 0.064 2224 2789 3522 0 0 0 0 0 0

1611 -0.68 -146.0 199.8 -12.5 205 1612 0.12 0.00 0.00 0.000 6 0.180 0.000 2257 2789 3521 0 0 0 0 0 0

1928 -0.68 -146.0 229.9 -9.4 235 1929 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2789 3521 0 0 0 0 0 0

2247 -0.68 -146.0 260.4 -9.0 265 2250 0.00 1.98 0.00 0.000 4 0.000 0.074 2250 3935 3521 0 0 0 0 0 0

2271 -0.68 -146.0 262.9 -10.0 267 2274 0.00 1.88 0.00 0.000 6 0.000 0.050 2250 2787 3521 0 0 0 0 0 0

2603 -0.68 -146.0 294.8 -9.5 298 2604 0.00 0.00 0.00 0.000 6 0.000 0.000 2250 2787 3521 0 0 0 0 0 0

2921 -0.68 -146.0 326.5 -9.8 328 2925 0.00 2.00 0.00 0.000 4 0.000 0.076 2248 3934 3521 0 0 0 0 0 0

2957 -0.68 -146.0 330.2 -10.9 331 2961 0.00 1.85 0.00 0.000 6 0.000 0.050 2247 2803 3521 0 0 0 0 0 0

3288 -0.68 -146.0 361.1 -9.0 362 3293 0.00 2.35 0.00 0.000 4 0.000 0.050 2247 1365 3521 0 0 0 0 0 0

3319 -0.68 -146.0 363.7 -8.5 364 3324 0.00 2.42 0.00 0.000 6 0.000 0.063 2248 2800 3521 0 0 0 0 0 0

3645 -0.68 -146.0 393.0 -9.3 394 3649 0.00 1.95 0.00 0.000 4 0.000 0.074 2247 3932 3521 0 0 0 0 0 0

3681 -0.68 -146.0 396.4 -10.1 397 3684 0.00 1.85 0.00 0.000 6 0.000 0.048 2247 2797 3521 0 0 0 0 0 0

4002 -0.70 -146.0 426.2 -9.6 410 4006 0.00 2.30 0.00 0.000 4 0.000 0.050 2247 1371 3521 0 0 0 0 0 0

4031 -0.73 -146.0 429.0 -10.1 411 4035 0.00 2.42 0.00 0.000 6 0.000 0.063 2247 2796 3521 0 0 0 0 0 0

4374 -0.75 -146.0 460.2 -9.2 422 4375 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2797 3522 0 0 0 0 0 0

4679 -0.77 -146.0 487.9 -9.1 432 4680 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2797 3522 0 0 0 0 0 0

4986 -0.80 -146.0 515.5 -8.9 442 4990 0.00 1.95 0.00 0.000 4 0.000 0.073 2247 3930 3522 0 0 0 0 0 0

5048 -0.84 -146.0 521.7 -9.2 443 5055 0.12 1.88 0.00 0.000 6 0.101 0.048 2188 2778 3522 0 0 0 0 0 0

5361 -0.75 -146.0 561.5 -12.9 454 5366 0.15 2.33 0.00 0.000 4 0.174 0.050 2227 1372 3522 0 0 0 0 0 0

5392 -0.73 -146.0 564.9 -10.6 455 5396 0.00 2.42 0.00 0.000 6 0.000 0.062 2222 2798 3522 0 0 0 0 0 0

5735 end dive: BOTTOM_OBSTACLE_DETECTED

state 5735 begin apogee

5743 -0.14 0.0 600.2 10.6 466 5875 0.62 0.00 124.12 0.983 4 0.135 0.000 2420 2599 2922 0 0 0 0 0 0

5876 end apogee: CONTROL_FINISHED_OK

state 5876 begin climb

5879 0.57 146.0 606.0 0.0 470 6015 0.65 0.00 131.68 0.957 6 0.077 0.000 2655 2599 2327 0 0 0 0 0 0

6335 0.54 146.0 565.9 10.8 485 6336 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2599 2317 0 0 0 0 0 0

6641 0.50 146.0 534.0 10.3 495 6642 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2599 2315 0 0 0 0 0 0

6948 0.47 146.0 502.8 10.2 505 6952 0.00 2.28 0.00 0.000 4 0.000 0.070 2656 3935 2315 0 0 0 0 0 0

6992 0.38 146.0 497.4 11.6 506 6997 0.22 2.20 0.00 0.000 6 0.181 0.045 2602 2590 2313 0 0 0 0 0 0

7312 0.49 207.8 474.2 7.1 517 7375 0.00 2.42 52.42 0.893 4 0.000 0.070 2602 3931 2073 0 0 0 0 0 0

7395 0.59 231.8 467.7 8.9 519 7423 0.17 2.20 22.02 0.861 6 0.086 0.045 2676 2591 1977 0 0 0 0 0 0

7748 0.59 231.8 420.5 13.6 531 7752 0.00 2.25 0.00 0.000 4 0.000 0.054 2677 1194 1969 0 0 0 0 0 0

7792 0.62 231.8 414.6 12.6 532 7796 0.00 2.30 0.00 0.000 6 0.000 0.057 2677 2596 1968 0 0 0 0 0 0

8120 0.62 231.8 372.3 12.9 555 8124 0.00 2.28 0.00 0.000 4 0.000 0.067 2677 3936 1967 0 0 0 0 0 0

8143 0.60 231.8 368.7 14.2 556 8150 0.00 2.20 0.00 0.000 6 0.000 0.045 2679 2590 1965 0 0 0 0 0 0

8468 0.60 231.8 326.6 12.7 587 8473 0.00 2.28 0.00 0.000 4 0.000 0.055 2679 1186 1965 0 0 0 0 0 0

8505 0.63 231.8 322.5 11.5 590 8509 0.00 2.35 0.00 0.000 6 0.000 0.056 2679 2608 1965 0 0 0 0 0 0

8836 0.63 231.8 283.1 11.6 621 8840 0.00 2.30 0.00 0.000 4 0.000 0.054 2680 1191 1965 0 0 0 0 0 0

8861 0.66 231.8 280.6 10.9 623 8865 0.00 2.33 0.00 0.000 6 0.000 0.057 2679 2592 1965 0 0 0 0 0 0

9186 0.66 231.8 243.9 10.9 653 9190 0.00 2.28 0.00 0.000 4 0.000 0.068 2679 3926 1965 0 0 0 0 0 0

9219 0.63 231.8 239.6 12.8 655 9226 0.00 2.20 0.00 0.000 6 0.000 0.045 2680 2585 1963 0 0 0 0 0 0

9545 0.63 231.8 204.7 10.6 686 9549 0.00 2.25 0.00 0.000 4 0.000 0.055 2680 1190 1963 0 0 0 0 0 0

9569 0.66 231.8 202.3 10.3 687 9575 0.00 2.30 0.00 0.000 6 0.000 0.056 2680 2591 1963 0 0 0 0 0 0

9895 0.69 231.8 167.3 10.8 718 9899 0.00 2.28 0.00 0.000 4 0.000 0.054 2680 1191 1964 0 0 0 0 0 0

9939 0.76 233.6 162.4 9.9 721 9947 0.12 2.28 0.00 0.000 6 0.104 0.056 2731 2574 1963 0 0 0 0 0 0

10265 0.72 233.6 119.3 12.7 752 10270 0.00 2.33 0.00 0.000 4 0.000 0.069 2731 3930 1963 0 0 0 0 0 0

10295 0.64 233.6 115.0 14.6 754 10300 0.20 2.22 0.00 0.000 6 0.181 0.046 2683 2561 1962 0 0 0 0 0 0

10631 0.74 286.3 86.4 7.6 799 10685 0.00 2.30 45.67 0.681 4 0.000 0.055 2683 1182 1753 0 0 0 0 0 0

10724 0.90 325.0 79.3 8.2 814 10766 0.22 2.25 33.80 0.665 6 0.077 0.056 2773 2550 1597 0 0 0 0 0 0

11106 0.90 325.0 28.1 13.7 881 11113 0.00 2.33 0.00 0.000 4 0.000 0.070 2773 3926 1586 0 0 0 0 0 0

11166 0.85 325.0 19.3 15.6 891 11173 0.00 2.28 0.00 0.000 6 0.000 0.048 2775 2544 1586 0 0 0 0 0 0

11235 end climb: FINISH_DEPTH_REACHED

state 11235 begin subsurface finish

11244 0.05 83.1 8.9 -13.8 903 11287 0.93 2.38 -32.20 0.000 4 0.155 0.067 2497 1195 2587 0 0 0 0 0 0

11288 end subsurface finish: CONTROL_FINISHED_OK

state 11288 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	811	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	31	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	23	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	-12952.191	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	220111,201924,6642.362,-6003.548,0,5095.6,0,-38.2	TGT_NAME	TARGET_E
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	8.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-2.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220111,201924,6642.362,-6003.548,0,5095.6,0,-38.2	MHEAD_RNG_PITCHd_Wd	113.1,146295,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	619

FREEZE	8.88,-1.762,-1.762,2,29,0	ALTIM_BOTTOM_PING	600.2,11.9
FINISH1	8.9,1.025806,83	_24V_AH	21.2,91.663
FINISH2	6.5	_10V_AH	9.6,62.522
RAFOS_CLK	664	FG_AHR_24Vo	0.000
RAFOS	0,1295740866,0.033333,0.018333,87,43,42,41,41,39,655,1670,26,270,1114,1295	FG_AHR_10Vo	0.000
RAFOS_FIX	6641.532227,-5956.771973,230111,000025,7,110,0.35	MEM	151680
IRIDIUM_FIX	6636.54,-5836.58,180111,000051	DATA_FILE_SIZE	33311,910
TT8_MAMPS	0.029211	CAP_FILE_SIZE	118075,0
HUMID	49.84	CFSIZE	260165632,196616192
INTERNAL_PRESSURE	8.60232	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.00	SOUNDSPEED	1449.5
XPDR_PINGS	0	GPS	230111,002725,6641.532,-5956.772,0,7110.0,0,-38.2
ALTIM_TOP_PING	19.3,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	181	16.34	SBE_CT	635	24	323.13
Roll_motor	104	112	249.19	SBE_O2	0	0	0.00
VBD_pump_during_apogee	409	983	8538.72	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	20.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2283	19	436.59
LPSleep	6856	2	152.05
TT8_Active	441	19	84.37
TT8_Sampling	1543	39	591.36
TT8_CF8	243	45	107.33
TT8_Kalman	0	0	0.00
Analog_circuits	1311	12	151.14
GPS_charging	0	0	0.00
Compass	1530	15	220.42
RAFOS	2160	3	62.21
Transponder	17	30	5.15

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	-5.50	0.000	2	0.000	0.000	2499	2573	2813	0	0	0	0	0	0
28	-0.57	-146.0	10.5	-0.0	1	53	0.55	2.40	-16.23	0.000	4	0.081	0.087	2288	3925	3523	0	0	0	0	0	0
94	-0.57	-146.0	18.2	-13.8	12	101	0.00	1.88	0.00	0.000	6	0.000	0.048	2288	2778	3523	0	0	0	0	0	0
440	-0.57	-146.0	63.7	-12.8	73	446	0.00	2.30	0.00	0.000	4	0.000	0.051	2288	1367	3523	0	0	0	0	0	0
495	-0.60	-146.0	70.3	-11.6	82	502	0.00	2.38	0.00	0.000	6	0.000	0.063	2288	2777	3523	0	0	0	0	0	0
842	-0.63	-146.0	111.2	-11.2	135	846	0.00	1.98	0.00	0.000	4	0.000	0.075	2286	3928	3522	0	0	0	0	0	0
870	-0.65	-146.0	114.7	-10.8	137	876	0.00	1.88	0.00	0.000	6	0.000	0.050	2286	2789	3522	0	0	0	0	0	0
1197	-0.68	-146.0	148.8	-9.6	168	1202	0.00	2.30	0.00	0.000	4	0.000	0.052	2286	1369	3522	0	0	0	0	0	0
1283	-0.74	-146.0	157.4	-10.1	175	1288	0.15	2.40	0.00	0.000	6	0.093	0.064	2224	2789	3522	0	0	0	0	0	0
1611	-0.68	-146.0	199.8	-12.5	205	1612	0.12	0.00	0.00	0.000	6	0.180	0.000	2257	2789	3521	0	0	0	0	0	0
1928	-0.68	-146.0	229.9	-9.4	235	1929	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2789	3521	0	0	0	0	0	0
2247	-0.68	-146.0	260.4	-9.0	265	2250	0.00	1.98	0.00	0.000	4	0.000	0.074	2250	3935	3521	0	0	0	0	0	0
2271	-0.68	-146.0	262.9	-10.0	267	2274	0.00	1.88	0.00	0.000	6	0.000	0.050	2250	2787	3521	0	0	0	0	0	0
2603	-0.68	-146.0	294.8	-9.5	298	2604	0.00	0.00	0.00	0.000	6	0.000	0.000	2250	2787	3521	0	0	0	0	0	0
2921	-0.68	-146.0	326.5	-9.8	328	2925	0.00	2.00	0.00	0.000	4	0.000	0.076	2248	3934	3521	0	0	0	0	0	0
2957	-0.68	-146.0	330.2	-10.9	331	2961	0.00	1.85	0.00	0.000	6	0.000	0.050	2247	2803	3521	0	0	0	0	0	0
3288	-0.68	-146.0	361.1	-9.0	362	3293	0.00	2.35	0.00	0.000	4	0.000	0.050	2247	1365	3521	0	0	0	0	0	0
3319	-0.68	-146.0	363.7	-8.5	364	3324	0.00	2.42	0.00	0.000	6	0.000	0.063	2248	2800	3521	0	0	0	0	0	0
3645	-0.68	-146.0	393.0	-9.3	394	3649	0.00	1.95	0.00	0.000	4	0.000	0.074	2247	3932	3521	0	0	0	0	0	0
3681	-0.68	-146.0	396.4	-10.1	397	3684	0.00	1.85	0.00	0.000	6	0.000	0.048	2247	2797	3521	0	0	0	0	0	0
4002	-0.70	-146.0	426.2	-9.6	410	4006	0.00	2.30	0.00	0.000	4	0.000	0.050	2247	1371	3521	0	0	0	0	0	0
4031	-0.73	-146.0	429.0	-10.1	411	4035	0.00	2.42	0.00	0.000	6	0.000	0.063	2247	2796	3521	0	0	0	0	0	0
4374	-0.75	-146.0	460.2	-9.2	422	4375	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2797	3522	0	0	0	0	0	0
4679	-0.77	-146.0	487.9	-9.1	432	4680	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2797	3522	0	0	0	0	0	0
4986	-0.80	-146.0	515.5	-8.9	442	4990	0.00	1.95	0.00	0.000	4	0.000	0.073	2247	3930	3522	0	0	0	0	0	0
5048	-0.84	-146.0	521.7	-9.2	443	5055	0.12	1.88	0.00	0.000	6	0.101	0.048	2188	2778	3522	0	0	0	0	0	0
5361	-0.75	-146.0	561.5	-12.9	454	5366	0.15	2.33	0.00	0.000	4	0.174	0.050	2227	1372	3522	0	0	0	0	0	0
5392	-0.73	-146.0	564.9	-10.6	455	5396	0.00	2.42	0.00	0.000	6	0.000	0.062	2222	2798	3522	0	0	0	0	0	0
5735	end dive: BOTTOM_OBSTACLE_DETECTED
state	5735	begin apogee
5743	-0.14	0.0	600.2	10.6	466	5875	0.62	0.00	124.12	0.983	4	0.135	0.000	2420	2599	2922	0	0	0	0	0	0
5876	end apogee: CONTROL_FINISHED_OK
state	5876	begin climb
5879	0.57	146.0	606.0	0.0	470	6015	0.65	0.00	131.68	0.957	6	0.077	0.000	2655	2599	2327	0	0	0	0	0	0
6335	0.54	146.0	565.9	10.8	485	6336	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2599	2317	0	0	0	0	0	0
6641	0.50	146.0	534.0	10.3	495	6642	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2599	2315	0	0	0	0	0	0
6948	0.47	146.0	502.8	10.2	505	6952	0.00	2.28	0.00	0.000	4	0.000	0.070	2656	3935	2315	0	0	0	0	0	0
6992	0.38	146.0	497.4	11.6	506	6997	0.22	2.20	0.00	0.000	6	0.181	0.045	2602	2590	2313	0	0	0	0	0	0
7312	0.49	207.8	474.2	7.1	517	7375	0.00	2.42	52.42	0.893	4	0.000	0.070	2602	3931	2073	0	0	0	0	0	0
7395	0.59	231.8	467.7	8.9	519	7423	0.17	2.20	22.02	0.861	6	0.086	0.045	2676	2591	1977	0	0	0	0	0	0
7748	0.59	231.8	420.5	13.6	531	7752	0.00	2.25	0.00	0.000	4	0.000	0.054	2677	1194	1969	0	0	0	0	0	0
7792	0.62	231.8	414.6	12.6	532	7796	0.00	2.30	0.00	0.000	6	0.000	0.057	2677	2596	1968	0	0	0	0	0	0
8120	0.62	231.8	372.3	12.9	555	8124	0.00	2.28	0.00	0.000	4	0.000	0.067	2677	3936	1967	0	0	0	0	0	0
8143	0.60	231.8	368.7	14.2	556	8150	0.00	2.20	0.00	0.000	6	0.000	0.045	2679	2590	1965	0	0	0	0	0	0
8468	0.60	231.8	326.6	12.7	587	8473	0.00	2.28	0.00	0.000	4	0.000	0.055	2679	1186	1965	0	0	0	0	0	0
8505	0.63	231.8	322.5	11.5	590	8509	0.00	2.35	0.00	0.000	6	0.000	0.056	2679	2608	1965	0	0	0	0	0	0
8836	0.63	231.8	283.1	11.6	621	8840	0.00	2.30	0.00	0.000	4	0.000	0.054	2680	1191	1965	0	0	0	0	0	0
8861	0.66	231.8	280.6	10.9	623	8865	0.00	2.33	0.00	0.000	6	0.000	0.057	2679	2592	1965	0	0	0	0	0	0
9186	0.66	231.8	243.9	10.9	653	9190	0.00	2.28	0.00	0.000	4	0.000	0.068	2679	3926	1965	0	0	0	0	0	0
9219	0.63	231.8	239.6	12.8	655	9226	0.00	2.20	0.00	0.000	6	0.000	0.045	2680	2585	1963	0	0	0	0	0	0
9545	0.63	231.8	204.7	10.6	686	9549	0.00	2.25	0.00	0.000	4	0.000	0.055	2680	1190	1963	0	0	0	0	0	0
9569	0.66	231.8	202.3	10.3	687	9575	0.00	2.30	0.00	0.000	6	0.000	0.056	2680	2591	1963	0	0	0	0	0	0
9895	0.69	231.8	167.3	10.8	718	9899	0.00	2.28	0.00	0.000	4	0.000	0.054	2680	1191	1964	0	0	0	0	0	0
9939	0.76	233.6	162.4	9.9	721	9947	0.12	2.28	0.00	0.000	6	0.104	0.056	2731	2574	1963	0	0	0	0	0	0
10265	0.72	233.6	119.3	12.7	752	10270	0.00	2.33	0.00	0.000	4	0.000	0.069	2731	3930	1963	0	0	0	0	0	0
10295	0.64	233.6	115.0	14.6	754	10300	0.20	2.22	0.00	0.000	6	0.181	0.046	2683	2561	1962	0	0	0	0	0	0
10631	0.74	286.3	86.4	7.6	799	10685	0.00	2.30	45.67	0.681	4	0.000	0.055	2683	1182	1753	0	0	0	0	0	0
10724	0.90	325.0	79.3	8.2	814	10766	0.22	2.25	33.80	0.665	6	0.077	0.056	2773	2550	1597	0	0	0	0	0	0
11106	0.90	325.0	28.1	13.7	881	11113	0.00	2.33	0.00	0.000	4	0.000	0.070	2773	3926	1586	0	0	0	0	0	0
11166	0.85	325.0	19.3	15.6	891	11173	0.00	2.28	0.00	0.000	6	0.000	0.048	2775	2544	1586	0	0	0	0	0	0
11235	end climb: FINISH_DEPTH_REACHED
state	11235	begin subsurface finish
11244	0.05	83.1	8.9	-13.8	903	11287	0.93	2.38	-32.20	0.000	4	0.155	0.067	2497	1195	2587	0	0	0	0	0	0
11288	end subsurface finish: CONTROL_FINISHED_OK
state	11288	begin surface