Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 825 * 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 825 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 21 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 -13323.409 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 -13323.409

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 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 825 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 250111,043056,6640.489,-5857.078,0,2064.5,0,-37.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 7.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 0.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250111,043056,6640.489,-5857.078,0,2064.5,0,-37.7 MHEAD_RNG_PITCHd_Wd 103.6,102112,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 833

Post-dive calculations and measurements:

FREEZE 8.80,-1.729,-1.810,3,3,0 ALTIM_BOTTOM_PING 602.8,11.9

FINISH1 8.8,1.026489,50 _24V_AH 21.3,93.262

FINISH2 2.9 _10V_AH 9.7,63.452

RAFOS_CLK 697 FG_AHR_24Vo 0.000

RAFOS 0,1295942467,8.033334,8.018611,45,45,45,42,41,40,170,286,791,1216,26,1539 FG_AHR_10Vo 0.000

RAFOS_FIX 6644.569336,-5843.502441,250111,080844,2,96,0.82 MEM 151704

IRIDIUM_FIX 6636.54,-5836.58,180111,000051 DATA_FILE_SIZE 36677,971

TT8_MAMPS 0.028462 CAP_FILE_SIZE 119503,0

HUMID 49.76 CFSIZE 260165632,195706880

INTERNAL_PRESSURE 8.62185 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.30 SOUNDSPEED 1451.2

XPDR_PINGS 0 GPS 250111,084344,6644.569,-5843.502,0,2095.5,0,-37.7

ALTIM_TOP_PING 19.6,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 199 17.01 SBE_CT 676 24 346.08

Roll_motor 93 159 318.33 SBE_O2 0 0 0.00

VBD_pump_during_apogee 378 982 7927.40 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 20.13 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2385 19 460.85

LPSleep 7341 2 164.51

TT8_Active 455 19 87.93

TT8_Sampling 1610 39 623.72

TT8_CF8 249 45 111.17

TT8_Kalman 0 0 0.00

Analog_circuits 1350 12 157.20

GPS_charging 0 0 0.00

Compass 1598 15 232.59

RAFOS 2520 3 73.33

Transponder 17 30 5.21

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 -5.62 0.000 2 0.000 0.000 2494 1177 2916 0 0 0 0 0 0

28 -0.57 -146.0 7.6 -0.0 1 53 0.57 0.30 -17.48 0.000 4 0.105 0.160 2292 1373 3520 0 0 0 0 0 0

133 -0.57 -146.0 17.4 -16.7 19 140 0.00 2.38 0.00 0.000 6 0.000 0.064 2292 2779 3521 0 0 0 0 0 0

481 -0.57 -146.0 52.0 -8.7 80 487 0.00 2.30 0.00 0.000 4 0.000 0.054 2292 1370 3521 0 0 0 0 0 0

520 -0.61 -146.0 56.3 -11.1 86 527 0.00 2.40 0.00 0.000 6 0.000 0.063 2292 2784 3521 0 0 0 0 0 0

867 -0.64 -146.0 92.0 -13.2 147 874 0.00 2.00 0.00 0.000 4 0.000 0.074 2286 3936 3521 0 0 0 0 0 0

938 -0.69 -146.0 100.5 -10.6 159 942 0.10 1.88 0.00 0.000 6 0.113 0.049 2237 2781 3520 0 0 0 0 0 0

1269 -0.64 -146.0 144.9 -13.7 190 1274 0.12 2.35 0.00 0.000 4 0.177 0.052 2270 1362 3520 0 0 0 0 0 0

1291 -0.64 -146.0 148.0 -12.9 191 1297 0.00 2.40 0.00 0.000 6 0.000 0.063 2270 2773 3520 0 0 0 0 0 0

1618 -0.66 -146.0 180.5 -9.6 222 1622 0.00 2.30 0.00 0.000 4 0.000 0.052 2270 1365 3520 0 0 0 0 0 0

1652 -0.70 -146.0 184.4 -10.3 224 1659 0.00 2.38 0.00 0.000 6 0.000 0.063 2270 2771 3520 0 0 0 0 0 0

1980 -0.73 -146.0 217.0 -9.7 255 1984 0.00 2.05 0.00 0.000 4 0.000 0.075 2270 3947 3519 0 0 0 0 0 0

2018 -0.78 -146.0 221.2 -10.3 258 2026 0.12 1.98 0.00 0.000 6 0.103 0.049 2216 2757 3518 0 0 0 0 0 0

2346 -0.71 -146.0 261.4 -11.5 289 2348 0.12 0.00 0.00 0.000 6 0.181 0.000 2248 2757 3518 0 0 0 0 0 0

2663 -0.71 -146.0 289.7 -9.0 319 2664 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2757 3519 0 0 0 0 0 0

2985 -0.71 -146.0 319.1 -9.6 349 2989 0.00 2.08 0.00 0.000 4 0.000 0.076 2247 3934 3518 0 0 0 0 0 0

3024 -0.71 -146.0 323.4 -10.0 352 3030 0.00 1.92 0.00 0.000 6 0.000 0.048 2247 2770 3518 0 0 0 0 0 0

3349 -0.71 -146.0 356.2 -10.2 383 3351 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2770 3518 0 0 0 0 0 0

3670 -0.71 -146.0 390.1 -10.3 413 3676 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2770 3518 0 0 0 0 0 0

3988 -0.71 -146.0 419.5 -8.8 430 3993 0.00 2.28 0.00 0.000 4 0.000 0.050 2247 1362 3518 0 0 0 0 0 0

4011 -0.71 -146.0 421.8 -8.6 430 4018 0.00 2.40 0.00 0.000 6 0.000 0.062 2247 2770 3519 0 0 0 0 0 0

4324 -0.71 -146.0 447.8 -8.4 441 4328 0.00 2.00 0.00 0.000 4 0.000 0.073 2247 3930 3519 0 0 0 0 0 0

4354 -0.71 -146.0 450.3 -8.0 441 4361 0.00 1.92 0.00 0.000 6 0.000 0.047 2247 2759 3519 0 0 0 0 0 0

4668 -0.71 -146.0 477.3 -8.5 452 4672 0.00 2.25 0.00 0.000 4 0.000 0.050 2247 1364 3519 0 0 0 0 0 0

4701 -0.74 -146.0 480.4 -8.4 453 4706 0.00 2.35 0.00 0.000 6 0.000 0.061 2247 2758 3519 0 0 0 0 0 0

5033 -0.74 -146.0 507.2 -8.2 464 5036 0.00 2.05 0.00 0.000 4 0.000 0.072 2245 3938 3519 0 0 0 0 0 0

5078 -0.74 -146.0 511.2 -8.6 465 5081 0.00 1.95 0.00 0.000 6 0.000 0.047 2245 2758 3519 0 0 0 0 0 0

5409 -0.74 -146.0 537.8 -8.2 476 5413 0.00 2.25 0.00 0.000 4 0.000 0.050 2244 1369 3520 0 0 0 0 0 0

5437 -0.77 -146.0 540.3 -8.5 476 5444 0.00 2.35 0.00 0.000 6 0.000 0.062 2242 2765 3520 0 0 0 0 0 0

5750 -0.77 -146.0 566.1 -8.4 487 5754 0.00 2.00 0.00 0.000 4 0.000 0.072 2235 3928 3520 0 0 0 0 0 0

5796 -0.77 -146.0 570.5 -10.1 488 5800 0.00 1.90 0.00 0.000 6 0.000 0.047 2235 2761 3520 0 0 0 0 0 0

6126 -0.77 -146.0 600.0 -9.0 499 6127 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2761 3520 0 0 0 0 0 0

6157 end dive: BOTTOM_OBSTACLE_DETECTED

state 6157 begin apogee

6164 -0.14 0.0 602.8 9.0 500 6295 0.60 0.00 123.72 0.982 4 0.131 0.000 2427 2599 2922 0 0 0 0 0 0

6296 end apogee: CONTROL_FINISHED_OK

state 6296 begin climb

6299 0.57 146.0 607.1 0.0 504 6438 0.62 0.00 131.55 0.954 6 0.067 0.000 2662 2599 2326 0 0 0 0 0 0

6752 0.53 146.0 563.3 11.9 519 6756 0.00 2.30 0.00 0.000 4 0.000 0.069 2662 3935 2317 0 0 0 0 0 0

6775 0.45 146.0 560.3 12.6 519 6782 0.15 2.17 0.00 0.000 6 0.200 0.045 2626 2604 2316 0 0 0 0 0 0

7089 0.47 147.6 528.5 9.9 530 7091 0.00 0.00 0.00 0.000 6 0.000 0.000 2626 2604 2315 0 0 0 0 0 0

7395 0.50 150.5 497.8 9.9 540 7396 0.00 0.00 0.00 0.000 6 0.000 0.000 2626 2604 2315 0 0 0 0 0 0

7702 0.53 166.8 468.8 9.2 550 7721 0.00 0.00 17.00 0.872 6 0.000 0.000 2626 2604 2243 0 0 0 0 0 0

8007 0.58 192.4 441.7 8.8 560 8040 0.12 2.38 23.52 0.864 4 0.099 0.054 2681 1190 2138 0 0 0 0 0 0

8076 0.58 192.4 433.9 11.8 562 8080 0.00 2.35 0.00 0.000 6 0.000 0.056 2681 2605 2136 0 0 0 0 0 0

8394 0.54 192.4 392.8 13.1 575 8399 0.12 2.28 0.00 0.000 4 0.190 0.068 2649 3928 2133 0 0 0 0 0 0

8428 0.52 192.4 387.8 13.5 577 8435 0.00 2.17 0.00 0.000 6 0.000 0.044 2649 2597 2131 0 0 0 0 0 0

8754 0.52 192.4 352.0 11.1 608 8758 0.00 2.25 0.00 0.000 4 0.000 0.053 2649 1194 2131 0 0 0 0 0 0

8809 0.58 192.4 345.8 11.0 612 8816 0.00 2.33 0.00 0.000 6 0.000 0.056 2648 2600 2132 0 0 0 0 0 0

9135 0.60 192.4 310.4 10.7 643 9139 0.00 2.30 0.00 0.000 4 0.000 0.067 2649 3935 2131 0 0 0 0 0 0

9169 0.60 192.4 306.0 12.6 645 9175 0.00 2.15 0.00 0.000 6 0.000 0.044 2652 2603 2130 0 0 0 0 0 0

9494 0.60 192.4 272.4 10.0 676 9495 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2603 2130 0 0 0 0 0 0

9817 0.62 192.4 239.7 10.6 706 9824 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2603 2130 0 0 0 0 0 0

10148 0.64 192.4 206.1 10.6 737 10152 0.00 2.28 0.00 0.000 4 0.000 0.053 2652 1189 2130 0 0 0 0 0 0

10170 0.69 194.2 203.3 9.9 738 10178 0.12 2.33 0.00 0.000 6 0.099 0.056 2706 2602 2130 0 0 0 0 0 0

10496 0.63 194.2 160.8 13.0 769 10500 0.00 2.25 0.00 0.000 4 0.000 0.067 2707 3926 2130 0 0 0 0 0 0

10599 0.53 194.2 147.2 13.3 778 10604 0.22 2.12 0.00 0.000 6 0.179 0.045 2648 2614 2129 0 0 0 0 0 0

10926 0.61 232.7 121.2 8.2 808 10965 0.00 0.00 34.60 0.695 6 0.000 0.000 2647 2614 1973 0 0 0 0 0 0

11293 0.74 289.3 88.1 7.4 854 11348 0.20 2.42 48.50 0.669 4 0.083 0.054 2727 1186 1742 0 0 0 0 0 0

11402 0.77 289.3 75.6 12.2 872 11409 0.00 2.35 0.00 0.000 6 0.000 0.057 2727 2613 1736 0 0 0 0 0 0

11747 0.77 289.3 32.7 16.6 933 11753 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2613 1731 0 0 0 0 0 0

11915 end climb: FINISH_DEPTH_REACHED

state 11915 begin subsurface finish

11923 0.03 49.6 8.8 -10.4 962 11976 0.77 2.40 -42.83 0.000 4 0.153 0.065 2491 1185 2722 0 0 0 0 0 0

11977 end subsurface finish: CONTROL_FINISHED_OK

state 11977 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	825	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	21	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	-13323.409	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	250111,043056,6640.489,-5857.078,0,2064.5,0,-37.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	7.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	0.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250111,043056,6640.489,-5857.078,0,2064.5,0,-37.7	MHEAD_RNG_PITCHd_Wd	103.6,102112,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	833

FREEZE	8.80,-1.729,-1.810,3,3,0	ALTIM_BOTTOM_PING	602.8,11.9
FINISH1	8.8,1.026489,50	_24V_AH	21.3,93.262
FINISH2	2.9	_10V_AH	9.7,63.452
RAFOS_CLK	697	FG_AHR_24Vo	0.000
RAFOS	0,1295942467,8.033334,8.018611,45,45,45,42,41,40,170,286,791,1216,26,1539	FG_AHR_10Vo	0.000
RAFOS_FIX	6644.569336,-5843.502441,250111,080844,2,96,0.82	MEM	151704
IRIDIUM_FIX	6636.54,-5836.58,180111,000051	DATA_FILE_SIZE	36677,971
TT8_MAMPS	0.028462	CAP_FILE_SIZE	119503,0
HUMID	49.76	CFSIZE	260165632,195706880
INTERNAL_PRESSURE	8.62185	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.30	SOUNDSPEED	1451.2
XPDR_PINGS	0	GPS	250111,084344,6644.569,-5843.502,0,2095.5,0,-37.7
ALTIM_TOP_PING	19.6,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	199	17.01	SBE_CT	676	24	346.08
Roll_motor	93	159	318.33	SBE_O2	0	0	0.00
VBD_pump_during_apogee	378	982	7927.40	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	20.13	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2385	19	460.85
LPSleep	7341	2	164.51
TT8_Active	455	19	87.93
TT8_Sampling	1610	39	623.72
TT8_CF8	249	45	111.17
TT8_Kalman	0	0	0.00
Analog_circuits	1350	12	157.20
GPS_charging	0	0	0.00
Compass	1598	15	232.59
RAFOS	2520	3	73.33
Transponder	17	30	5.21

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	-5.62	0.000	2	0.000	0.000	2494	1177	2916	0	0	0	0	0	0
28	-0.57	-146.0	7.6	-0.0	1	53	0.57	0.30	-17.48	0.000	4	0.105	0.160	2292	1373	3520	0	0	0	0	0	0
133	-0.57	-146.0	17.4	-16.7	19	140	0.00	2.38	0.00	0.000	6	0.000	0.064	2292	2779	3521	0	0	0	0	0	0
481	-0.57	-146.0	52.0	-8.7	80	487	0.00	2.30	0.00	0.000	4	0.000	0.054	2292	1370	3521	0	0	0	0	0	0
520	-0.61	-146.0	56.3	-11.1	86	527	0.00	2.40	0.00	0.000	6	0.000	0.063	2292	2784	3521	0	0	0	0	0	0
867	-0.64	-146.0	92.0	-13.2	147	874	0.00	2.00	0.00	0.000	4	0.000	0.074	2286	3936	3521	0	0	0	0	0	0
938	-0.69	-146.0	100.5	-10.6	159	942	0.10	1.88	0.00	0.000	6	0.113	0.049	2237	2781	3520	0	0	0	0	0	0
1269	-0.64	-146.0	144.9	-13.7	190	1274	0.12	2.35	0.00	0.000	4	0.177	0.052	2270	1362	3520	0	0	0	0	0	0
1291	-0.64	-146.0	148.0	-12.9	191	1297	0.00	2.40	0.00	0.000	6	0.000	0.063	2270	2773	3520	0	0	0	0	0	0
1618	-0.66	-146.0	180.5	-9.6	222	1622	0.00	2.30	0.00	0.000	4	0.000	0.052	2270	1365	3520	0	0	0	0	0	0
1652	-0.70	-146.0	184.4	-10.3	224	1659	0.00	2.38	0.00	0.000	6	0.000	0.063	2270	2771	3520	0	0	0	0	0	0
1980	-0.73	-146.0	217.0	-9.7	255	1984	0.00	2.05	0.00	0.000	4	0.000	0.075	2270	3947	3519	0	0	0	0	0	0
2018	-0.78	-146.0	221.2	-10.3	258	2026	0.12	1.98	0.00	0.000	6	0.103	0.049	2216	2757	3518	0	0	0	0	0	0
2346	-0.71	-146.0	261.4	-11.5	289	2348	0.12	0.00	0.00	0.000	6	0.181	0.000	2248	2757	3518	0	0	0	0	0	0
2663	-0.71	-146.0	289.7	-9.0	319	2664	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	2757	3519	0	0	0	0	0	0
2985	-0.71	-146.0	319.1	-9.6	349	2989	0.00	2.08	0.00	0.000	4	0.000	0.076	2247	3934	3518	0	0	0	0	0	0
3024	-0.71	-146.0	323.4	-10.0	352	3030	0.00	1.92	0.00	0.000	6	0.000	0.048	2247	2770	3518	0	0	0	0	0	0
3349	-0.71	-146.0	356.2	-10.2	383	3351	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2770	3518	0	0	0	0	0	0
3670	-0.71	-146.0	390.1	-10.3	413	3676	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2770	3518	0	0	0	0	0	0
3988	-0.71	-146.0	419.5	-8.8	430	3993	0.00	2.28	0.00	0.000	4	0.000	0.050	2247	1362	3518	0	0	0	0	0	0
4011	-0.71	-146.0	421.8	-8.6	430	4018	0.00	2.40	0.00	0.000	6	0.000	0.062	2247	2770	3519	0	0	0	0	0	0
4324	-0.71	-146.0	447.8	-8.4	441	4328	0.00	2.00	0.00	0.000	4	0.000	0.073	2247	3930	3519	0	0	0	0	0	0
4354	-0.71	-146.0	450.3	-8.0	441	4361	0.00	1.92	0.00	0.000	6	0.000	0.047	2247	2759	3519	0	0	0	0	0	0
4668	-0.71	-146.0	477.3	-8.5	452	4672	0.00	2.25	0.00	0.000	4	0.000	0.050	2247	1364	3519	0	0	0	0	0	0
4701	-0.74	-146.0	480.4	-8.4	453	4706	0.00	2.35	0.00	0.000	6	0.000	0.061	2247	2758	3519	0	0	0	0	0	0
5033	-0.74	-146.0	507.2	-8.2	464	5036	0.00	2.05	0.00	0.000	4	0.000	0.072	2245	3938	3519	0	0	0	0	0	0
5078	-0.74	-146.0	511.2	-8.6	465	5081	0.00	1.95	0.00	0.000	6	0.000	0.047	2245	2758	3519	0	0	0	0	0	0
5409	-0.74	-146.0	537.8	-8.2	476	5413	0.00	2.25	0.00	0.000	4	0.000	0.050	2244	1369	3520	0	0	0	0	0	0
5437	-0.77	-146.0	540.3	-8.5	476	5444	0.00	2.35	0.00	0.000	6	0.000	0.062	2242	2765	3520	0	0	0	0	0	0
5750	-0.77	-146.0	566.1	-8.4	487	5754	0.00	2.00	0.00	0.000	4	0.000	0.072	2235	3928	3520	0	0	0	0	0	0
5796	-0.77	-146.0	570.5	-10.1	488	5800	0.00	1.90	0.00	0.000	6	0.000	0.047	2235	2761	3520	0	0	0	0	0	0
6126	-0.77	-146.0	600.0	-9.0	499	6127	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2761	3520	0	0	0	0	0	0
6157	end dive: BOTTOM_OBSTACLE_DETECTED
state	6157	begin apogee
6164	-0.14	0.0	602.8	9.0	500	6295	0.60	0.00	123.72	0.982	4	0.131	0.000	2427	2599	2922	0	0	0	0	0	0
6296	end apogee: CONTROL_FINISHED_OK
state	6296	begin climb
6299	0.57	146.0	607.1	0.0	504	6438	0.62	0.00	131.55	0.954	6	0.067	0.000	2662	2599	2326	0	0	0	0	0	0
6752	0.53	146.0	563.3	11.9	519	6756	0.00	2.30	0.00	0.000	4	0.000	0.069	2662	3935	2317	0	0	0	0	0	0
6775	0.45	146.0	560.3	12.6	519	6782	0.15	2.17	0.00	0.000	6	0.200	0.045	2626	2604	2316	0	0	0	0	0	0
7089	0.47	147.6	528.5	9.9	530	7091	0.00	0.00	0.00	0.000	6	0.000	0.000	2626	2604	2315	0	0	0	0	0	0
7395	0.50	150.5	497.8	9.9	540	7396	0.00	0.00	0.00	0.000	6	0.000	0.000	2626	2604	2315	0	0	0	0	0	0
7702	0.53	166.8	468.8	9.2	550	7721	0.00	0.00	17.00	0.872	6	0.000	0.000	2626	2604	2243	0	0	0	0	0	0
8007	0.58	192.4	441.7	8.8	560	8040	0.12	2.38	23.52	0.864	4	0.099	0.054	2681	1190	2138	0	0	0	0	0	0
8076	0.58	192.4	433.9	11.8	562	8080	0.00	2.35	0.00	0.000	6	0.000	0.056	2681	2605	2136	0	0	0	0	0	0
8394	0.54	192.4	392.8	13.1	575	8399	0.12	2.28	0.00	0.000	4	0.190	0.068	2649	3928	2133	0	0	0	0	0	0
8428	0.52	192.4	387.8	13.5	577	8435	0.00	2.17	0.00	0.000	6	0.000	0.044	2649	2597	2131	0	0	0	0	0	0
8754	0.52	192.4	352.0	11.1	608	8758	0.00	2.25	0.00	0.000	4	0.000	0.053	2649	1194	2131	0	0	0	0	0	0
8809	0.58	192.4	345.8	11.0	612	8816	0.00	2.33	0.00	0.000	6	0.000	0.056	2648	2600	2132	0	0	0	0	0	0
9135	0.60	192.4	310.4	10.7	643	9139	0.00	2.30	0.00	0.000	4	0.000	0.067	2649	3935	2131	0	0	0	0	0	0
9169	0.60	192.4	306.0	12.6	645	9175	0.00	2.15	0.00	0.000	6	0.000	0.044	2652	2603	2130	0	0	0	0	0	0
9494	0.60	192.4	272.4	10.0	676	9495	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2603	2130	0	0	0	0	0	0
9817	0.62	192.4	239.7	10.6	706	9824	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2603	2130	0	0	0	0	0	0
10148	0.64	192.4	206.1	10.6	737	10152	0.00	2.28	0.00	0.000	4	0.000	0.053	2652	1189	2130	0	0	0	0	0	0
10170	0.69	194.2	203.3	9.9	738	10178	0.12	2.33	0.00	0.000	6	0.099	0.056	2706	2602	2130	0	0	0	0	0	0
10496	0.63	194.2	160.8	13.0	769	10500	0.00	2.25	0.00	0.000	4	0.000	0.067	2707	3926	2130	0	0	0	0	0	0
10599	0.53	194.2	147.2	13.3	778	10604	0.22	2.12	0.00	0.000	6	0.179	0.045	2648	2614	2129	0	0	0	0	0	0
10926	0.61	232.7	121.2	8.2	808	10965	0.00	0.00	34.60	0.695	6	0.000	0.000	2647	2614	1973	0	0	0	0	0	0
11293	0.74	289.3	88.1	7.4	854	11348	0.20	2.42	48.50	0.669	4	0.083	0.054	2727	1186	1742	0	0	0	0	0	0
11402	0.77	289.3	75.6	12.2	872	11409	0.00	2.35	0.00	0.000	6	0.000	0.057	2727	2613	1736	0	0	0	0	0	0
11747	0.77	289.3	32.7	16.6	933	11753	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	2613	1731	0	0	0	0	0	0
11915	end climb: FINISH_DEPTH_REACHED
state	11915	begin subsurface finish
11923	0.03	49.6	8.8	-10.4	962	11976	0.77	2.40	-42.83	0.000	4	0.153	0.065	2491	1185	2722	0	0	0	0	0	0
11977	end subsurface finish: CONTROL_FINISHED_OK
state	11977	begin surface