Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 829 * 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 829 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 34 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 -3 T_GPS_CHARGE -13324.667 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 -13324.667

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 -3

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 34 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 829 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 250111,204344,6644.871,-5835.006,0,2077.5,0,-37.6 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 7.30 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 1.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250111,204344,6644.871,-5835.006,0,2077.5,0,-37.6 MHEAD_RNG_PITCHd_Wd 104.1,84254,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 761

Post-dive calculations and measurements:

FREEZE 8.54,-1.647,-1.809,3,7,0 ALTIM_BOTTOM_PING 600.3,11.9

FINISH1 8.5,1.026480,50 _24V_AH 21.3,93.712

FINISH2 6.2 _10V_AH 9.6,63.712

RAFOS_CLK 672 FG_AHR_24Vo 0.000

RAFOS 0,1296000070,0.033333,0.019444,50,44,43,43,41,41,888,996,170,1474,8,367 FG_AHR_10Vo 0.000

RAFOS_FIX 6642.805664,-5834.522949,260111,000041,3,71,0.27 MEM 151712

IRIDIUM_FIX 6614.97,-5826.75,250111,171751 DATA_FILE_SIZE 33416,934

TT8_MAMPS 0.028462 CAP_FILE_SIZE 122121,0

HUMID 50.86 CFSIZE 260165632,195342336

INTERNAL_PRESSURE 8.63162 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.20 SOUNDSPEED 1452.0

XPDR_PINGS 0 GPS 260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6

ALTIM_TOP_PING 19.9,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 188 17.71 SBE_CT 653 24 333.91

Roll_motor 112 115 277.54 SBE_O2 0 0 0.00

VBD_pump_during_apogee 340 973 7052.59 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 2356 19 450.72

LPSleep 6983 2 154.87

TT8_Active 380 19 72.72

TT8_Sampling 1673 39 641.31

TT8_CF8 250 45 110.62

TT8_Kalman 0 0 0.00

Analog_circuits 1297 12 149.43

GPS_charging 0 0 0.00

Compass 1654 15 238.18

RAFOS 2520 3 72.58

Transponder 17 30 5.10

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 12 begin dive

16 -0.57 -146.0 0.0 0.0 0 24 0.00 0.00 -5.50 0.000 2 0.000 0.000 2488 3928 2935 0 0 0 0 0 0

27 -0.57 -146.0 8.7 -0.0 1 52 0.55 4.28 -15.35 0.000 4 0.106 0.055 2297 1360 3523 0 0 0 0 0 0

125 -0.64 -146.0 13.8 -7.7 17 132 0.00 2.38 0.00 0.000 6 0.000 0.060 2292 2788 3524 0 0 0 0 0 0

471 -0.67 -146.0 55.0 -10.8 78 478 0.00 2.30 0.00 0.000 4 0.000 0.050 2292 1367 3524 0 0 0 0 0 0

533 -0.73 -146.0 61.4 -10.2 88 540 0.15 2.33 0.00 0.000 6 0.091 0.063 2229 2757 3524 0 0 0 0 0 0

883 -0.66 -146.0 108.5 -13.1 144 887 0.12 2.03 0.00 0.000 4 0.174 0.072 2256 3927 3523 0 0 0 0 0 0

939 -0.66 -146.0 115.9 -11.8 148 946 0.00 1.90 0.00 0.000 6 0.000 0.049 2255 2775 3522 0 0 0 0 0 0

1267 -0.66 -146.0 150.6 -10.3 179 1268 0.00 0.00 0.00 0.000 6 0.000 0.000 2255 2775 3522 0 0 0 0 0 0

1585 -0.66 -146.0 185.1 -11.2 209 1589 0.00 2.30 0.00 0.000 4 0.000 0.051 2256 1367 3522 0 0 0 0 0 0

1606 -0.66 -146.0 188.0 -11.4 210 1613 0.00 2.40 0.00 0.000 6 0.000 0.063 2248 2788 3522 0 0 0 0 0 0

1932 -0.66 -146.0 221.6 -10.0 241 1936 0.00 1.98 0.00 0.000 4 0.000 0.074 2247 3934 3522 0 0 0 0 0 0

1957 -0.66 -146.0 223.8 -9.3 243 1960 0.00 1.92 0.00 0.000 6 0.000 0.048 2247 2767 3522 0 0 0 0 0 0

2288 -0.66 -146.0 256.2 -10.0 274 2292 0.00 2.03 0.00 0.000 4 0.000 0.075 2247 3932 3522 0 0 0 0 0 0

2312 -0.66 -146.0 258.7 -10.3 276 2316 0.00 1.92 0.00 0.000 6 0.000 0.048 2247 2781 3522 0 0 0 0 0 0

2643 -0.66 -146.0 290.6 -9.1 307 2644 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2781 3522 0 0 0 0 0 0

2964 -0.66 -146.0 316.7 -8.1 337 2970 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2781 3522 0 0 0 0 0 0

3293 -0.66 -146.0 345.2 -8.8 368 3297 0.00 2.28 0.00 0.000 4 0.000 0.050 2247 1369 3522 0 0 0 0 0 0

3334 -0.69 -146.0 349.1 -8.8 371 3338 0.00 2.42 0.00 0.000 6 0.000 0.063 2247 2792 3521 0 0 0 0 0 0

3660 -0.69 -146.0 379.0 -9.8 401 3664 0.00 2.33 0.00 0.000 4 0.000 0.049 2247 1370 3522 0 0 0 0 0 0

3689 -0.69 -146.0 381.7 -9.7 403 3693 0.00 2.40 0.00 0.000 6 0.000 0.062 2247 2791 3522 0 0 0 0 0 0

4024 -0.69 -146.0 412.2 -9.2 426 4027 0.00 1.95 0.00 0.000 4 0.000 0.073 2247 3928 3522 0 0 0 0 0 0

4097 -0.72 -146.0 419.6 -10.1 428 4100 0.00 1.88 0.00 0.000 6 0.000 0.047 2247 2787 3522 0 0 0 0 0 0

4436 -0.72 -146.0 450.7 -9.3 439 4440 0.00 2.30 0.00 0.000 4 0.000 0.050 2247 1363 3522 0 0 0 0 0 0

4470 -0.75 -146.0 454.4 -9.7 440 4475 0.00 2.40 0.00 0.000 6 0.000 0.061 2247 2787 3523 0 0 0 0 0 0

4801 -0.75 -146.0 484.2 -9.1 451 4802 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2787 3522 0 0 0 0 0 0

5108 -0.75 -146.0 511.0 -8.6 461 5112 0.00 2.30 0.00 0.000 4 0.000 0.050 2247 1371 3522 0 0 0 0 0 0

5130 -0.75 -146.0 513.1 -8.8 461 5134 0.00 2.40 0.00 0.000 6 0.000 0.062 2246 2780 3522 0 0 0 0 0 0

5444 -0.77 -146.0 539.8 -8.6 471 5445 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2780 3522 0 0 0 0 0 0

5751 -0.79 -146.0 567.3 -9.1 481 5752 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2780 3523 0 0 0 0 0 0

6056 -0.82 -146.0 595.6 -9.2 491 6061 0.10 2.30 0.00 0.000 4 0.119 0.050 2198 1373 3523 0 0 0 0 0 0

6089 -0.77 -146.0 599.7 -12.0 492 6099 0.12 2.38 0.00 0.000 6 0.174 0.062 2223 2780 3523 0 0 0 0 0 0

6102 end dive: BOTTOM_OBSTACLE_DETECTED

state 6102 begin apogee

6110 -0.14 0.0 601.4 11.6 492 6241 0.62 0.00 123.95 0.974 4 0.133 0.000 2423 2596 2923 0 0 0 0 0 0

6241 end apogee: CONTROL_FINISHED_OK

state 6241 begin climb

6245 0.57 146.0 606.4 0.0 496 6384 0.68 2.42 131.65 0.946 4 0.067 0.049 2660 1184 2327 0 0 0 0 0 0

6573 0.57 154.3 582.0 9.6 507 6587 0.00 2.42 7.53 0.807 6 0.000 0.055 2661 2602 2293 0 0 0 0 0 0

6913 0.53 154.3 545.4 11.0 518 6917 0.00 2.30 0.00 0.000 4 0.000 0.054 2662 1181 2289 0 0 0 0 0 0

7127 0.53 154.3 522.9 10.6 524 7131 0.00 2.33 0.00 0.000 6 0.000 0.056 2662 2605 2289 0 0 0 0 0 0

7446 0.50 154.3 486.6 11.7 535 7450 0.00 2.25 0.00 0.000 4 0.000 0.068 2662 3926 2288 0 0 0 0 0 0

7486 0.41 154.3 480.8 14.3 536 7491 0.20 2.15 0.00 0.000 6 0.189 0.045 2611 2598 2286 0 0 0 0 0 0

7812 0.49 187.8 453.2 8.5 547 7847 0.00 2.38 29.35 0.871 4 0.000 0.053 2611 1184 2156 0 0 0 0 0 0

7873 0.63 228.3 447.8 8.1 548 7915 0.20 2.38 36.55 0.858 6 0.077 0.055 2691 2611 1991 0 0 0 0 0 0

8227 0.59 228.3 396.8 14.6 561 8231 0.00 2.22 0.00 0.000 4 0.000 0.067 2692 3926 1983 0 0 0 0 0 0

8249 0.53 228.3 392.8 16.5 562 8256 0.17 2.15 0.00 0.000 6 0.182 0.045 2647 2605 1982 0 0 0 0 0 0

8576 0.57 228.3 354.8 11.4 593 8580 0.00 2.28 0.00 0.000 4 0.000 0.053 2647 1191 1981 0 0 0 0 0 0

8628 0.66 228.3 349.3 10.6 597 8633 0.12 2.30 0.00 0.000 6 0.099 0.056 2701 2593 1980 0 0 0 0 0 0

8955 0.61 228.3 303.5 14.2 627 8959 0.00 2.25 0.00 0.000 4 0.000 0.067 2701 3932 1980 0 0 0 0 0 0

8988 0.52 228.3 298.1 15.5 629 8995 0.22 2.17 0.00 0.000 6 0.174 0.045 2644 2590 1980 0 0 0 0 0 0

9315 0.58 228.3 266.7 10.0 660 9319 0.00 2.25 0.00 0.000 4 0.000 0.053 2644 1190 1980 0 0 0 0 0 0

9348 0.68 234.4 263.2 9.7 662 9359 0.15 2.33 4.68 0.627 6 0.090 0.055 2706 2605 1967 0 0 0 0 0 0

9686 0.63 234.4 218.1 12.9 694 9690 0.00 2.30 0.00 0.000 4 0.000 0.054 2707 1187 1966 0 0 0 0 0 0

9716 0.61 234.4 214.2 13.5 696 9721 0.12 2.33 0.00 0.000 6 0.177 0.055 2675 2593 1965 0 0 0 0 0 0

10043 0.61 234.4 179.9 10.7 726 10044 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2593 1965 0 0 0 0 0 0

10360 0.64 234.4 143.3 11.3 756 10364 0.00 2.30 0.00 0.000 4 0.000 0.054 2676 1179 1965 0 0 0 0 0 0

10397 0.69 234.4 139.4 11.1 759 10401 0.00 2.33 0.00 0.000 6 0.000 0.055 2675 2586 1965 0 0 0 0 0 0

10729 0.73 240.5 105.1 9.7 790 10742 0.10 2.30 6.30 0.636 4 0.117 0.051 2721 1188 1945 0 0 0 0 0 0

10760 0.73 240.5 101.3 12.6 792 10767 0.00 2.33 0.00 0.000 6 0.000 0.056 2721 2590 1945 0 0 0 0 0 0

11105 0.70 240.5 58.5 10.7 852 11111 0.00 2.30 0.00 0.000 4 0.000 0.054 2722 1190 1944 0 0 0 0 0 0

11198 0.72 240.5 47.9 11.4 868 11205 0.00 2.22 0.00 0.000 6 0.000 0.056 2722 2544 1943 0 0 0 0 0 0

11545 end climb: FINISH_DEPTH_REACHED

state 11545 begin subsurface finish

11553 0.03 50.0 8.5 -10.3 929 11585 0.75 2.35 -24.80 0.000 4 0.151 0.083 2494 3922 2722 0 0 0 0 0 0

11586 end subsurface finish: CONTROL_FINISHED_OK

state 11586 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	829	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	34	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	-3	T_GPS_CHARGE	-13324.667	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	250111,204344,6644.871,-5835.006,0,2077.5,0,-37.6	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	7.30	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	1.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250111,204344,6644.871,-5835.006,0,2077.5,0,-37.6	MHEAD_RNG_PITCHd_Wd	104.1,84254,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	761

FREEZE	8.54,-1.647,-1.809,3,7,0	ALTIM_BOTTOM_PING	600.3,11.9
FINISH1	8.5,1.026480,50	_24V_AH	21.3,93.712
FINISH2	6.2	_10V_AH	9.6,63.712
RAFOS_CLK	672	FG_AHR_24Vo	0.000
RAFOS	0,1296000070,0.033333,0.019444,50,44,43,43,41,41,888,996,170,1474,8,367	FG_AHR_10Vo	0.000
RAFOS_FIX	6642.805664,-5834.522949,260111,000041,3,71,0.27	MEM	151712
IRIDIUM_FIX	6614.97,-5826.75,250111,171751	DATA_FILE_SIZE	33416,934
TT8_MAMPS	0.028462	CAP_FILE_SIZE	122121,0
HUMID	50.86	CFSIZE	260165632,195342336
INTERNAL_PRESSURE	8.63162	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.20	SOUNDSPEED	1452.0
XPDR_PINGS	0	GPS	260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6
ALTIM_TOP_PING	19.9,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	188	17.71	SBE_CT	653	24	333.91
Roll_motor	112	115	277.54	SBE_O2	0	0	0.00
VBD_pump_during_apogee	340	973	7052.59	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	2356	19	450.72
LPSleep	6983	2	154.87
TT8_Active	380	19	72.72
TT8_Sampling	1673	39	641.31
TT8_CF8	250	45	110.62
TT8_Kalman	0	0	0.00
Analog_circuits	1297	12	149.43
GPS_charging	0	0	0.00
Compass	1654	15	238.18
RAFOS	2520	3	72.58
Transponder	17	30	5.10

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	12	begin dive
16	-0.57	-146.0	0.0	0.0	0	24	0.00	0.00	-5.50	0.000	2	0.000	0.000	2488	3928	2935	0	0	0	0	0	0
27	-0.57	-146.0	8.7	-0.0	1	52	0.55	4.28	-15.35	0.000	4	0.106	0.055	2297	1360	3523	0	0	0	0	0	0
125	-0.64	-146.0	13.8	-7.7	17	132	0.00	2.38	0.00	0.000	6	0.000	0.060	2292	2788	3524	0	0	0	0	0	0
471	-0.67	-146.0	55.0	-10.8	78	478	0.00	2.30	0.00	0.000	4	0.000	0.050	2292	1367	3524	0	0	0	0	0	0
533	-0.73	-146.0	61.4	-10.2	88	540	0.15	2.33	0.00	0.000	6	0.091	0.063	2229	2757	3524	0	0	0	0	0	0
883	-0.66	-146.0	108.5	-13.1	144	887	0.12	2.03	0.00	0.000	4	0.174	0.072	2256	3927	3523	0	0	0	0	0	0
939	-0.66	-146.0	115.9	-11.8	148	946	0.00	1.90	0.00	0.000	6	0.000	0.049	2255	2775	3522	0	0	0	0	0	0
1267	-0.66	-146.0	150.6	-10.3	179	1268	0.00	0.00	0.00	0.000	6	0.000	0.000	2255	2775	3522	0	0	0	0	0	0
1585	-0.66	-146.0	185.1	-11.2	209	1589	0.00	2.30	0.00	0.000	4	0.000	0.051	2256	1367	3522	0	0	0	0	0	0
1606	-0.66	-146.0	188.0	-11.4	210	1613	0.00	2.40	0.00	0.000	6	0.000	0.063	2248	2788	3522	0	0	0	0	0	0
1932	-0.66	-146.0	221.6	-10.0	241	1936	0.00	1.98	0.00	0.000	4	0.000	0.074	2247	3934	3522	0	0	0	0	0	0
1957	-0.66	-146.0	223.8	-9.3	243	1960	0.00	1.92	0.00	0.000	6	0.000	0.048	2247	2767	3522	0	0	0	0	0	0
2288	-0.66	-146.0	256.2	-10.0	274	2292	0.00	2.03	0.00	0.000	4	0.000	0.075	2247	3932	3522	0	0	0	0	0	0
2312	-0.66	-146.0	258.7	-10.3	276	2316	0.00	1.92	0.00	0.000	6	0.000	0.048	2247	2781	3522	0	0	0	0	0	0
2643	-0.66	-146.0	290.6	-9.1	307	2644	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2781	3522	0	0	0	0	0	0
2964	-0.66	-146.0	316.7	-8.1	337	2970	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2781	3522	0	0	0	0	0	0
3293	-0.66	-146.0	345.2	-8.8	368	3297	0.00	2.28	0.00	0.000	4	0.000	0.050	2247	1369	3522	0	0	0	0	0	0
3334	-0.69	-146.0	349.1	-8.8	371	3338	0.00	2.42	0.00	0.000	6	0.000	0.063	2247	2792	3521	0	0	0	0	0	0
3660	-0.69	-146.0	379.0	-9.8	401	3664	0.00	2.33	0.00	0.000	4	0.000	0.049	2247	1370	3522	0	0	0	0	0	0
3689	-0.69	-146.0	381.7	-9.7	403	3693	0.00	2.40	0.00	0.000	6	0.000	0.062	2247	2791	3522	0	0	0	0	0	0
4024	-0.69	-146.0	412.2	-9.2	426	4027	0.00	1.95	0.00	0.000	4	0.000	0.073	2247	3928	3522	0	0	0	0	0	0
4097	-0.72	-146.0	419.6	-10.1	428	4100	0.00	1.88	0.00	0.000	6	0.000	0.047	2247	2787	3522	0	0	0	0	0	0
4436	-0.72	-146.0	450.7	-9.3	439	4440	0.00	2.30	0.00	0.000	4	0.000	0.050	2247	1363	3522	0	0	0	0	0	0
4470	-0.75	-146.0	454.4	-9.7	440	4475	0.00	2.40	0.00	0.000	6	0.000	0.061	2247	2787	3523	0	0	0	0	0	0
4801	-0.75	-146.0	484.2	-9.1	451	4802	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2787	3522	0	0	0	0	0	0
5108	-0.75	-146.0	511.0	-8.6	461	5112	0.00	2.30	0.00	0.000	4	0.000	0.050	2247	1371	3522	0	0	0	0	0	0
5130	-0.75	-146.0	513.1	-8.8	461	5134	0.00	2.40	0.00	0.000	6	0.000	0.062	2246	2780	3522	0	0	0	0	0	0
5444	-0.77	-146.0	539.8	-8.6	471	5445	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2780	3522	0	0	0	0	0	0
5751	-0.79	-146.0	567.3	-9.1	481	5752	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2780	3523	0	0	0	0	0	0
6056	-0.82	-146.0	595.6	-9.2	491	6061	0.10	2.30	0.00	0.000	4	0.119	0.050	2198	1373	3523	0	0	0	0	0	0
6089	-0.77	-146.0	599.7	-12.0	492	6099	0.12	2.38	0.00	0.000	6	0.174	0.062	2223	2780	3523	0	0	0	0	0	0
6102	end dive: BOTTOM_OBSTACLE_DETECTED
state	6102	begin apogee
6110	-0.14	0.0	601.4	11.6	492	6241	0.62	0.00	123.95	0.974	4	0.133	0.000	2423	2596	2923	0	0	0	0	0	0
6241	end apogee: CONTROL_FINISHED_OK
state	6241	begin climb
6245	0.57	146.0	606.4	0.0	496	6384	0.68	2.42	131.65	0.946	4	0.067	0.049	2660	1184	2327	0	0	0	0	0	0
6573	0.57	154.3	582.0	9.6	507	6587	0.00	2.42	7.53	0.807	6	0.000	0.055	2661	2602	2293	0	0	0	0	0	0
6913	0.53	154.3	545.4	11.0	518	6917	0.00	2.30	0.00	0.000	4	0.000	0.054	2662	1181	2289	0	0	0	0	0	0
7127	0.53	154.3	522.9	10.6	524	7131	0.00	2.33	0.00	0.000	6	0.000	0.056	2662	2605	2289	0	0	0	0	0	0
7446	0.50	154.3	486.6	11.7	535	7450	0.00	2.25	0.00	0.000	4	0.000	0.068	2662	3926	2288	0	0	0	0	0	0
7486	0.41	154.3	480.8	14.3	536	7491	0.20	2.15	0.00	0.000	6	0.189	0.045	2611	2598	2286	0	0	0	0	0	0
7812	0.49	187.8	453.2	8.5	547	7847	0.00	2.38	29.35	0.871	4	0.000	0.053	2611	1184	2156	0	0	0	0	0	0
7873	0.63	228.3	447.8	8.1	548	7915	0.20	2.38	36.55	0.858	6	0.077	0.055	2691	2611	1991	0	0	0	0	0	0
8227	0.59	228.3	396.8	14.6	561	8231	0.00	2.22	0.00	0.000	4	0.000	0.067	2692	3926	1983	0	0	0	0	0	0
8249	0.53	228.3	392.8	16.5	562	8256	0.17	2.15	0.00	0.000	6	0.182	0.045	2647	2605	1982	0	0	0	0	0	0
8576	0.57	228.3	354.8	11.4	593	8580	0.00	2.28	0.00	0.000	4	0.000	0.053	2647	1191	1981	0	0	0	0	0	0
8628	0.66	228.3	349.3	10.6	597	8633	0.12	2.30	0.00	0.000	6	0.099	0.056	2701	2593	1980	0	0	0	0	0	0
8955	0.61	228.3	303.5	14.2	627	8959	0.00	2.25	0.00	0.000	4	0.000	0.067	2701	3932	1980	0	0	0	0	0	0
8988	0.52	228.3	298.1	15.5	629	8995	0.22	2.17	0.00	0.000	6	0.174	0.045	2644	2590	1980	0	0	0	0	0	0
9315	0.58	228.3	266.7	10.0	660	9319	0.00	2.25	0.00	0.000	4	0.000	0.053	2644	1190	1980	0	0	0	0	0	0
9348	0.68	234.4	263.2	9.7	662	9359	0.15	2.33	4.68	0.627	6	0.090	0.055	2706	2605	1967	0	0	0	0	0	0
9686	0.63	234.4	218.1	12.9	694	9690	0.00	2.30	0.00	0.000	4	0.000	0.054	2707	1187	1966	0	0	0	0	0	0
9716	0.61	234.4	214.2	13.5	696	9721	0.12	2.33	0.00	0.000	6	0.177	0.055	2675	2593	1965	0	0	0	0	0	0
10043	0.61	234.4	179.9	10.7	726	10044	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2593	1965	0	0	0	0	0	0
10360	0.64	234.4	143.3	11.3	756	10364	0.00	2.30	0.00	0.000	4	0.000	0.054	2676	1179	1965	0	0	0	0	0	0
10397	0.69	234.4	139.4	11.1	759	10401	0.00	2.33	0.00	0.000	6	0.000	0.055	2675	2586	1965	0	0	0	0	0	0
10729	0.73	240.5	105.1	9.7	790	10742	0.10	2.30	6.30	0.636	4	0.117	0.051	2721	1188	1945	0	0	0	0	0	0
10760	0.73	240.5	101.3	12.6	792	10767	0.00	2.33	0.00	0.000	6	0.000	0.056	2721	2590	1945	0	0	0	0	0	0
11105	0.70	240.5	58.5	10.7	852	11111	0.00	2.30	0.00	0.000	4	0.000	0.054	2722	1190	1944	0	0	0	0	0	0
11198	0.72	240.5	47.9	11.4	868	11205	0.00	2.22	0.00	0.000	6	0.000	0.056	2722	2544	1943	0	0	0	0	0	0
11545	end climb: FINISH_DEPTH_REACHED
state	11545	begin subsurface finish
11553	0.03	50.0	8.5	-10.3	929	11585	0.75	2.35	-24.80	0.000	4	0.151	0.083	2494	3922	2722	0	0	0	0	0	0
11586	end subsurface finish: CONTROL_FINISHED_OK
state	11586	begin surface