Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 812 * 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 812 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 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 29 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 32 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 29 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 812 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 230111,002725,6641.532,-5956.772,0,7110.0,0,-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 8.81 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230111,002725,6641.532,-5956.772,0,7110.0,0,-38.2 MHEAD_RNG_PITCHd_Wd 111.9,142000,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 688

Post-dive calculations and measurements:

FREEZE 1.23,-1.757,-1.759,2,30,2 ALTIM_TOP_PING 19.3,999.0

FINISH 1.2,1.025846 ALTIM_BOTTOM_PING 652.2,12.3

SM_CCo 12314,230.52,0.597,1,0,440,609.08 _24V_AH 21.1,91.808

SM_GC 1.86,0.00,0.00,230.52,0.000,0.000,0.597,288,2791,440,-6.84,0.31,609.08 _10V_AH 9.6,62.585

RAFOS_CLK 729 FG_AHR_24Vo 0.000

RAFOS 0,1295755268,4.033333,4.018889,93,49,48,44,43,42,661,250,1330,1552,432,1908 FG_AHR_10Vo 0.000

RAFOS_FIX 6642.619141,-5951.184570,230111,040434,7,120,0.32 MEM 151684

IRIDIUM_FIX 6636.54,-5836.58,180111,000051 DATA_FILE_SIZE 33410,936

TT8_MAMPS 0.029211 CAP_FILE_SIZE 130335,0

HUMID 48.50 CFSIZE 260165632,196542464

INTERNAL_PRESSURE 8.41676 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 14.00 SOUNDSPEED 1449.7

XPDR_PINGS 0 GPS 230111,042734,6642.619,-5951.185,0,7120.1,0,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 10 196 43.14 SBE_CT 654 24 331.59

Roll_motor 117 74 185.79 SBE_O2 0 0 0.00

VBD_pump_during_apogee 403 1013 8640.01 nil 0 0 0.00

VBD_pump_during_surface 230 597 2906.12 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 24.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2441 19 466.89

LPSleep 7550 2 167.44

TT8_Active 658 19 125.93

TT8_Sampling 1717 39 658.22

TT8_CF8 266 45 117.47

TT8_Kalman 0 0 0.00

Analog_circuits 1602 12 184.66

GPS_charging 0 0 0.00

Compass 1698 15 244.63

RAFOS 2520 3 72.58

Transponder 22 30 6.48

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 25 0.00 0.00 -5.60 0.000 2 0.000 0.000 2497 1195 2814 0 0 0 0 0 0

28 -0.57 -146.0 10.0 -0.0 1 54 0.55 4.70 -16.80 0.000 4 0.082 0.072 2281 3920 3521 0 0 0 0 0 0

287 -0.54 -146.0 44.6 -14.2 46 294 0.00 1.85 0.00 0.000 6 0.000 0.048 2281 2781 3522 0 0 0 0 0 0

635 -0.52 -146.0 94.0 -12.8 107 641 0.00 2.28 0.00 0.000 4 0.000 0.052 2281 1371 3521 0 0 0 0 0 0

688 -0.52 -146.0 100.9 -11.7 115 695 0.00 2.33 0.00 0.000 6 0.000 0.063 2277 2761 3521 0 0 0 0 0 0

1013 -0.52 -146.0 138.2 -11.9 146 1017 0.00 2.28 0.00 0.000 4 0.000 0.053 2277 1371 3521 0 0 0 0 0 0

1052 -0.54 -146.0 143.0 -11.9 149 1059 0.00 2.33 0.00 0.000 6 0.000 0.063 2275 2752 3520 0 0 0 0 0 0

1379 -0.54 -146.0 178.0 -10.3 180 1383 0.00 2.03 0.00 0.000 4 0.000 0.075 2273 3926 3521 0 0 0 0 0 0

1396 -0.54 -146.0 179.9 -9.9 181 1404 0.00 1.98 0.00 0.000 6 0.000 0.049 2272 2732 3520 0 0 0 0 0 0

1722 -0.57 -146.0 213.5 -10.3 212 1726 0.00 2.22 0.00 0.000 4 0.000 0.052 2272 1369 3521 0 0 0 0 0 0

1747 -0.60 -146.0 216.0 -10.2 214 1751 0.00 2.33 0.00 0.000 6 0.000 0.064 2273 2747 3520 0 0 0 0 0 0

2073 -0.64 -146.0 247.7 -9.6 244 2077 0.00 2.05 0.00 0.000 4 0.000 0.075 2272 3927 3520 0 0 0 0 0 0

2133 -0.69 -146.0 253.3 -9.3 249 2136 0.00 1.95 0.00 0.000 6 0.000 0.050 2272 2735 3519 0 0 0 0 0 0

2465 -0.73 -146.0 282.7 -8.2 280 2469 0.00 2.20 0.00 0.000 4 0.000 0.052 2272 1372 3520 0 0 0 0 0 0

2496 -0.78 -146.0 285.5 -9.2 282 2501 0.15 2.33 0.00 0.000 6 0.092 0.063 2209 2749 3520 0 0 0 0 0 0

2822 -0.70 -146.0 328.9 -13.0 312 2827 0.15 2.05 0.00 0.000 4 0.175 0.073 2242 3928 3520 0 0 0 0 0 0

2867 -0.70 -146.0 334.2 -10.5 315 2873 0.00 1.92 0.00 0.000 6 0.000 0.049 2242 2750 3520 0 0 0 0 0 0

3195 -0.70 -146.0 367.4 -10.3 346 3200 0.00 2.22 0.00 0.000 4 0.000 0.052 2242 1372 3520 0 0 0 0 0 0

3260 -0.70 -146.0 374.0 -10.0 351 3264 0.00 2.30 0.00 0.000 6 0.000 0.063 2235 2735 3520 0 0 0 0 0 0

3603 -0.70 -146.0 410.6 -10.9 377 3607 0.00 2.05 0.00 0.000 4 0.000 0.073 2229 3929 3520 0 0 0 0 0 0

3648 -0.70 -146.0 416.0 -12.3 378 3652 0.00 1.95 0.00 0.000 6 0.000 0.048 2229 2734 3520 0 0 0 0 0 0

3981 -0.68 -146.0 452.5 -10.9 389 3985 0.00 2.08 0.00 0.000 4 0.000 0.074 2222 3928 3519 0 0 0 0 0 0

4033 -0.65 -146.0 458.8 -12.1 390 4037 0.15 1.92 0.00 0.000 6 0.157 0.047 2263 2750 3520 0 0 0 0 0 0

4349 -0.70 -146.0 485.2 -7.9 400 4353 0.00 2.22 0.00 0.000 4 0.000 0.051 2263 1370 3520 0 0 0 0 0 0

4383 -0.76 -146.0 488.2 -8.2 401 4387 0.00 2.33 0.00 0.000 6 0.000 0.062 2261 2752 3520 0 0 0 0 0 0

4716 -0.80 -146.0 514.1 -7.9 412 4721 0.12 2.05 0.00 0.000 4 0.103 0.073 2202 3930 3520 0 0 0 0 0 0

4745 -0.75 -146.0 517.1 -10.0 413 4749 0.00 1.92 0.00 0.000 6 0.000 0.047 2202 2747 3520 0 0 0 0 0 0

5088 -0.69 -146.0 555.6 -11.1 424 5090 0.17 0.00 0.00 0.000 6 0.171 0.000 2251 2747 3520 0 0 0 0 0 0

5394 -0.72 -146.0 579.9 -7.7 434 5398 0.00 2.22 0.00 0.000 4 0.000 0.050 2251 1366 3521 0 0 0 0 0 0

5424 -0.76 -146.0 582.5 -8.1 435 5428 0.00 2.33 0.00 0.000 6 0.000 0.062 2248 2748 3521 0 0 0 0 0 0

5763 -0.79 -146.0 609.2 -7.8 446 5766 0.00 2.03 0.00 0.000 4 0.000 0.073 2242 3926 3521 0 0 0 0 0 0

5832 -0.82 -146.0 615.3 -8.9 448 5836 0.00 1.95 0.00 0.000 6 0.000 0.047 2242 2758 3521 0 0 0 0 0 0

6174 -0.82 -146.0 644.4 -8.4 459 6175 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2759 3521 0 0 0 0 0 0

6265 end dive: BOTTOM_OBSTACLE_DETECTED

state 6265 begin apogee

6272 -0.14 0.0 652.2 8.4 462 6404 0.57 0.00 124.53 1.014 4 0.131 0.000 2426 2597 2922 0 0 0 0 0 0

6404 end apogee: CONTROL_FINISHED_OK

state 6404 begin climb

6407 0.57 146.0 657.0 0.0 466 6549 0.68 2.45 132.68 0.988 4 0.063 0.050 2666 1180 2327 0 0 0 0 0 0

6725 0.57 146.0 631.0 11.4 476 6730 0.00 2.47 0.00 0.000 6 0.000 0.056 2666 2610 2320 0 0 0 0 0 0

7062 0.52 146.0 591.5 11.7 487 7066 0.00 2.30 0.00 0.000 4 0.000 0.053 2666 1189 2316 0 0 0 0 0 0

7320 0.52 147.6 564.0 9.9 494 7325 0.00 2.33 0.00 0.000 6 0.000 0.057 2666 2601 2316 0 0 0 0 0 0

7641 0.48 147.6 528.6 11.3 505 7646 0.12 2.28 0.00 0.000 4 0.197 0.069 2634 3933 2315 0 0 0 0 0 0

7680 0.44 147.6 523.9 11.3 506 7684 0.00 2.17 0.00 0.000 6 0.000 0.045 2635 2598 2314 0 0 0 0 0 0

8011 0.47 180.3 494.8 8.5 517 8042 0.00 0.00 28.95 0.905 6 0.000 0.000 2634 2598 2187 0 0 0 0 0 0

8347 0.51 208.3 465.3 8.7 528 8380 0.00 2.30 25.40 0.883 4 0.000 0.052 2634 1195 2072 0 0 0 0 0 0

8398 0.61 244.2 460.7 8.3 529 8438 0.10 2.33 32.42 0.871 6 0.109 0.056 2680 2590 1926 0 0 0 0 0 0

8752 0.61 244.2 418.3 12.6 541 8756 0.00 2.28 0.00 0.000 4 0.000 0.068 2680 3932 1918 0 0 0 0 0 0

8774 0.58 244.2 415.0 14.4 541 8780 0.00 2.17 0.00 0.000 6 0.000 0.045 2683 2596 1917 0 0 0 0 0 0

9095 0.58 244.2 371.5 13.5 564 9099 0.00 2.28 0.00 0.000 4 0.000 0.054 2684 1195 1916 0 0 0 0 0 0

9140 0.62 244.2 365.6 12.0 567 9147 0.00 2.28 0.00 0.000 6 0.000 0.055 2684 2583 1916 0 0 0 0 0 0

9466 0.62 244.2 323.6 12.7 598 9467 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2583 1915 0 0 0 0 0 0

9788 0.62 244.2 284.6 12.3 628 9792 0.00 2.25 0.00 0.000 4 0.000 0.054 2684 1193 1915 0 0 0 0 0 0

9829 0.67 244.2 279.6 11.5 631 9833 0.00 2.30 0.00 0.000 6 0.000 0.056 2684 2581 1915 0 0 0 0 0 0

10155 0.67 244.2 240.6 11.9 661 10156 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2581 1914 0 0 0 0 0 0

10477 0.69 244.2 202.2 12.3 691 10481 0.00 2.30 0.00 0.000 4 0.000 0.068 2683 3934 1914 0 0 0 0 0 0

10521 0.69 244.2 195.8 13.3 694 10528 0.00 2.22 0.00 0.000 6 0.000 0.045 2684 2575 1912 0 0 0 0 0 0

10847 0.73 244.2 158.8 11.8 725 10851 0.00 2.28 0.00 0.000 4 0.000 0.054 2684 1184 1912 0 0 0 0 0 0

10899 0.81 244.2 153.2 10.2 729 10903 0.15 2.33 0.00 0.000 6 0.093 0.057 2746 2581 1912 0 0 0 0 0 0

11230 0.76 244.2 111.5 10.9 760 11231 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2580 1912 0 0 0 0 0 0

11561 0.73 244.2 73.9 11.2 809 11568 0.15 2.33 0.00 0.000 4 0.178 0.070 2706 3925 1912 0 0 0 0 0 0

11604 0.73 255.6 69.6 9.5 816 11618 0.00 2.20 9.10 0.669 6 0.000 0.047 2706 2570 1880 0 0 0 0 0 0

11960 0.82 302.7 44.2 7.8 878 12008 0.00 2.35 41.53 0.663 4 0.000 0.056 2706 1187 1686 0 0 0 0 0 0

12028 0.92 312.6 37.7 9.5 889 12044 0.17 2.30 9.38 0.621 6 0.083 0.057 2777 2576 1648 0 0 0 0 0 0

12271 end climb: SURFACE_DEPTH_REACHED

state 12271 begin surface coast

12295 end surface coast: CONTROL_FINISHED_OK

state 12295 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	812	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	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	29	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	230111,002725,6641.532,-5956.772,0,7110.0,0,-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	8.81	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230111,002725,6641.532,-5956.772,0,7110.0,0,-38.2	MHEAD_RNG_PITCHd_Wd	111.9,142000,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	688

FREEZE	1.23,-1.757,-1.759,2,30,2	ALTIM_TOP_PING	19.3,999.0
FINISH	1.2,1.025846	ALTIM_BOTTOM_PING	652.2,12.3
SM_CCo	12314,230.52,0.597,1,0,440,609.08	_24V_AH	21.1,91.808
SM_GC	1.86,0.00,0.00,230.52,0.000,0.000,0.597,288,2791,440,-6.84,0.31,609.08	_10V_AH	9.6,62.585
RAFOS_CLK	729	FG_AHR_24Vo	0.000
RAFOS	0,1295755268,4.033333,4.018889,93,49,48,44,43,42,661,250,1330,1552,432,1908	FG_AHR_10Vo	0.000
RAFOS_FIX	6642.619141,-5951.184570,230111,040434,7,120,0.32	MEM	151684
IRIDIUM_FIX	6636.54,-5836.58,180111,000051	DATA_FILE_SIZE	33410,936
TT8_MAMPS	0.029211	CAP_FILE_SIZE	130335,0
HUMID	48.50	CFSIZE	260165632,196542464
INTERNAL_PRESSURE	8.41676	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	14.00	SOUNDSPEED	1449.7
XPDR_PINGS	0	GPS	230111,042734,6642.619,-5951.185,0,7120.1,0,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	10	196	43.14	SBE_CT	654	24	331.59
Roll_motor	117	74	185.79	SBE_O2	0	0	0.00
VBD_pump_during_apogee	403	1013	8640.01	nil	0	0	0.00
VBD_pump_during_surface	230	597	2906.12	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	24.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2441	19	466.89
LPSleep	7550	2	167.44
TT8_Active	658	19	125.93
TT8_Sampling	1717	39	658.22
TT8_CF8	266	45	117.47
TT8_Kalman	0	0	0.00
Analog_circuits	1602	12	184.66
GPS_charging	0	0	0.00
Compass	1698	15	244.63
RAFOS	2520	3	72.58
Transponder	22	30	6.48

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	25	0.00	0.00	-5.60	0.000	2	0.000	0.000	2497	1195	2814	0	0	0	0	0	0
28	-0.57	-146.0	10.0	-0.0	1	54	0.55	4.70	-16.80	0.000	4	0.082	0.072	2281	3920	3521	0	0	0	0	0	0
287	-0.54	-146.0	44.6	-14.2	46	294	0.00	1.85	0.00	0.000	6	0.000	0.048	2281	2781	3522	0	0	0	0	0	0
635	-0.52	-146.0	94.0	-12.8	107	641	0.00	2.28	0.00	0.000	4	0.000	0.052	2281	1371	3521	0	0	0	0	0	0
688	-0.52	-146.0	100.9	-11.7	115	695	0.00	2.33	0.00	0.000	6	0.000	0.063	2277	2761	3521	0	0	0	0	0	0
1013	-0.52	-146.0	138.2	-11.9	146	1017	0.00	2.28	0.00	0.000	4	0.000	0.053	2277	1371	3521	0	0	0	0	0	0
1052	-0.54	-146.0	143.0	-11.9	149	1059	0.00	2.33	0.00	0.000	6	0.000	0.063	2275	2752	3520	0	0	0	0	0	0
1379	-0.54	-146.0	178.0	-10.3	180	1383	0.00	2.03	0.00	0.000	4	0.000	0.075	2273	3926	3521	0	0	0	0	0	0
1396	-0.54	-146.0	179.9	-9.9	181	1404	0.00	1.98	0.00	0.000	6	0.000	0.049	2272	2732	3520	0	0	0	0	0	0
1722	-0.57	-146.0	213.5	-10.3	212	1726	0.00	2.22	0.00	0.000	4	0.000	0.052	2272	1369	3521	0	0	0	0	0	0
1747	-0.60	-146.0	216.0	-10.2	214	1751	0.00	2.33	0.00	0.000	6	0.000	0.064	2273	2747	3520	0	0	0	0	0	0
2073	-0.64	-146.0	247.7	-9.6	244	2077	0.00	2.05	0.00	0.000	4	0.000	0.075	2272	3927	3520	0	0	0	0	0	0
2133	-0.69	-146.0	253.3	-9.3	249	2136	0.00	1.95	0.00	0.000	6	0.000	0.050	2272	2735	3519	0	0	0	0	0	0
2465	-0.73	-146.0	282.7	-8.2	280	2469	0.00	2.20	0.00	0.000	4	0.000	0.052	2272	1372	3520	0	0	0	0	0	0
2496	-0.78	-146.0	285.5	-9.2	282	2501	0.15	2.33	0.00	0.000	6	0.092	0.063	2209	2749	3520	0	0	0	0	0	0
2822	-0.70	-146.0	328.9	-13.0	312	2827	0.15	2.05	0.00	0.000	4	0.175	0.073	2242	3928	3520	0	0	0	0	0	0
2867	-0.70	-146.0	334.2	-10.5	315	2873	0.00	1.92	0.00	0.000	6	0.000	0.049	2242	2750	3520	0	0	0	0	0	0
3195	-0.70	-146.0	367.4	-10.3	346	3200	0.00	2.22	0.00	0.000	4	0.000	0.052	2242	1372	3520	0	0	0	0	0	0
3260	-0.70	-146.0	374.0	-10.0	351	3264	0.00	2.30	0.00	0.000	6	0.000	0.063	2235	2735	3520	0	0	0	0	0	0
3603	-0.70	-146.0	410.6	-10.9	377	3607	0.00	2.05	0.00	0.000	4	0.000	0.073	2229	3929	3520	0	0	0	0	0	0
3648	-0.70	-146.0	416.0	-12.3	378	3652	0.00	1.95	0.00	0.000	6	0.000	0.048	2229	2734	3520	0	0	0	0	0	0
3981	-0.68	-146.0	452.5	-10.9	389	3985	0.00	2.08	0.00	0.000	4	0.000	0.074	2222	3928	3519	0	0	0	0	0	0
4033	-0.65	-146.0	458.8	-12.1	390	4037	0.15	1.92	0.00	0.000	6	0.157	0.047	2263	2750	3520	0	0	0	0	0	0
4349	-0.70	-146.0	485.2	-7.9	400	4353	0.00	2.22	0.00	0.000	4	0.000	0.051	2263	1370	3520	0	0	0	0	0	0
4383	-0.76	-146.0	488.2	-8.2	401	4387	0.00	2.33	0.00	0.000	6	0.000	0.062	2261	2752	3520	0	0	0	0	0	0
4716	-0.80	-146.0	514.1	-7.9	412	4721	0.12	2.05	0.00	0.000	4	0.103	0.073	2202	3930	3520	0	0	0	0	0	0
4745	-0.75	-146.0	517.1	-10.0	413	4749	0.00	1.92	0.00	0.000	6	0.000	0.047	2202	2747	3520	0	0	0	0	0	0
5088	-0.69	-146.0	555.6	-11.1	424	5090	0.17	0.00	0.00	0.000	6	0.171	0.000	2251	2747	3520	0	0	0	0	0	0
5394	-0.72	-146.0	579.9	-7.7	434	5398	0.00	2.22	0.00	0.000	4	0.000	0.050	2251	1366	3521	0	0	0	0	0	0
5424	-0.76	-146.0	582.5	-8.1	435	5428	0.00	2.33	0.00	0.000	6	0.000	0.062	2248	2748	3521	0	0	0	0	0	0
5763	-0.79	-146.0	609.2	-7.8	446	5766	0.00	2.03	0.00	0.000	4	0.000	0.073	2242	3926	3521	0	0	0	0	0	0
5832	-0.82	-146.0	615.3	-8.9	448	5836	0.00	1.95	0.00	0.000	6	0.000	0.047	2242	2758	3521	0	0	0	0	0	0
6174	-0.82	-146.0	644.4	-8.4	459	6175	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2759	3521	0	0	0	0	0	0
6265	end dive: BOTTOM_OBSTACLE_DETECTED
state	6265	begin apogee
6272	-0.14	0.0	652.2	8.4	462	6404	0.57	0.00	124.53	1.014	4	0.131	0.000	2426	2597	2922	0	0	0	0	0	0
6404	end apogee: CONTROL_FINISHED_OK
state	6404	begin climb
6407	0.57	146.0	657.0	0.0	466	6549	0.68	2.45	132.68	0.988	4	0.063	0.050	2666	1180	2327	0	0	0	0	0	0
6725	0.57	146.0	631.0	11.4	476	6730	0.00	2.47	0.00	0.000	6	0.000	0.056	2666	2610	2320	0	0	0	0	0	0
7062	0.52	146.0	591.5	11.7	487	7066	0.00	2.30	0.00	0.000	4	0.000	0.053	2666	1189	2316	0	0	0	0	0	0
7320	0.52	147.6	564.0	9.9	494	7325	0.00	2.33	0.00	0.000	6	0.000	0.057	2666	2601	2316	0	0	0	0	0	0
7641	0.48	147.6	528.6	11.3	505	7646	0.12	2.28	0.00	0.000	4	0.197	0.069	2634	3933	2315	0	0	0	0	0	0
7680	0.44	147.6	523.9	11.3	506	7684	0.00	2.17	0.00	0.000	6	0.000	0.045	2635	2598	2314	0	0	0	0	0	0
8011	0.47	180.3	494.8	8.5	517	8042	0.00	0.00	28.95	0.905	6	0.000	0.000	2634	2598	2187	0	0	0	0	0	0
8347	0.51	208.3	465.3	8.7	528	8380	0.00	2.30	25.40	0.883	4	0.000	0.052	2634	1195	2072	0	0	0	0	0	0
8398	0.61	244.2	460.7	8.3	529	8438	0.10	2.33	32.42	0.871	6	0.109	0.056	2680	2590	1926	0	0	0	0	0	0
8752	0.61	244.2	418.3	12.6	541	8756	0.00	2.28	0.00	0.000	4	0.000	0.068	2680	3932	1918	0	0	0	0	0	0
8774	0.58	244.2	415.0	14.4	541	8780	0.00	2.17	0.00	0.000	6	0.000	0.045	2683	2596	1917	0	0	0	0	0	0
9095	0.58	244.2	371.5	13.5	564	9099	0.00	2.28	0.00	0.000	4	0.000	0.054	2684	1195	1916	0	0	0	0	0	0
9140	0.62	244.2	365.6	12.0	567	9147	0.00	2.28	0.00	0.000	6	0.000	0.055	2684	2583	1916	0	0	0	0	0	0
9466	0.62	244.2	323.6	12.7	598	9467	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2583	1915	0	0	0	0	0	0
9788	0.62	244.2	284.6	12.3	628	9792	0.00	2.25	0.00	0.000	4	0.000	0.054	2684	1193	1915	0	0	0	0	0	0
9829	0.67	244.2	279.6	11.5	631	9833	0.00	2.30	0.00	0.000	6	0.000	0.056	2684	2581	1915	0	0	0	0	0	0
10155	0.67	244.2	240.6	11.9	661	10156	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2581	1914	0	0	0	0	0	0
10477	0.69	244.2	202.2	12.3	691	10481	0.00	2.30	0.00	0.000	4	0.000	0.068	2683	3934	1914	0	0	0	0	0	0
10521	0.69	244.2	195.8	13.3	694	10528	0.00	2.22	0.00	0.000	6	0.000	0.045	2684	2575	1912	0	0	0	0	0	0
10847	0.73	244.2	158.8	11.8	725	10851	0.00	2.28	0.00	0.000	4	0.000	0.054	2684	1184	1912	0	0	0	0	0	0
10899	0.81	244.2	153.2	10.2	729	10903	0.15	2.33	0.00	0.000	6	0.093	0.057	2746	2581	1912	0	0	0	0	0	0
11230	0.76	244.2	111.5	10.9	760	11231	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2580	1912	0	0	0	0	0	0
11561	0.73	244.2	73.9	11.2	809	11568	0.15	2.33	0.00	0.000	4	0.178	0.070	2706	3925	1912	0	0	0	0	0	0
11604	0.73	255.6	69.6	9.5	816	11618	0.00	2.20	9.10	0.669	6	0.000	0.047	2706	2570	1880	0	0	0	0	0	0
11960	0.82	302.7	44.2	7.8	878	12008	0.00	2.35	41.53	0.663	4	0.000	0.056	2706	1187	1686	0	0	0	0	0	0
12028	0.92	312.6	37.7	9.5	889	12044	0.17	2.30	9.38	0.621	6	0.083	0.057	2777	2576	1648	0	0	0	0	0	0
12271	end climb: SURFACE_DEPTH_REACHED
state	12271	begin surface coast
12295	end surface coast: CONTROL_FINISHED_OK
state	12295	begin surface