Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 832 * 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 832 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 22 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 32 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 22 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 832 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 260111,003741,6642.806,-5834.523,0,3070.7,0,-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 5.73 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 260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6 MHEAD_RNG_PITCHd_Wd 101.7,85535,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 747

Post-dive calculations and measurements:

FREEZE 8.07,-1.642,-1.812,3,10,0 ALTIM_BOTTOM_PING 601.8,11.9

FINISH1 8.1,1.026523,48 _24V_AH 21.2,93.947

FINISH2 2.8 _10V_AH 9.7,63.872

RAFOS_CLK 658 FG_AHR_24Vo 0.000

RAFOS 0,1296028875,8.033334,8.020833,52,50,45,41,40,40,1840,1240,1700,1401,144,884 FG_AHR_10Vo 0.000

RAFOS_FIX 6642.805664,-5834.522949,260111,000041,3,71,0.27 MEM 151768

IRIDIUM_FIX 6614.97,-5826.75,250111,171751 DATA_FILE_SIZE 33388,934

TT8_MAMPS 0.028462 CAP_FILE_SIZE 121846,0

HUMID 50.15 CFSIZE 260165632,195174400

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

TCM_TEMP 14.20 SOUNDSPEED 1451.7

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

ALTIM_TOP_PING 19.5,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 198 15.44 SBE_CT 652 24 332.07

Roll_motor 108 129 296.42 SBE_O2 0 0 0.00

VBD_pump_during_apogee 366 975 7576.40 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 22.26 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2354 19 454.93

LPSleep 6890 2 154.40

TT8_Active 414 19 80.08

TT8_Sampling 1682 39 651.68

TT8_CF8 238 45 106.44

TT8_Kalman 0 0 0.00

Analog_circuits 1334 12 155.29

GPS_charging 0 0 0.00

Compass 1658 15 241.27

RAFOS 2520 3 73.33

Transponder 20 30 6.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

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 2477 3935 2908 0 0 0 0 0 0

28 -0.57 -146.0 7.7 -0.0 1 54 0.52 4.32 -16.80 0.000 4 0.093 0.054 2291 1362 3520 0 0 0 0 0 0

209 -0.60 -146.0 28.1 -11.6 32 215 0.00 2.42 0.00 0.000 6 0.000 0.063 2288 2785 3524 0 0 0 0 0 0

556 -0.60 -146.0 67.5 -9.5 93 563 0.00 1.95 0.00 0.000 4 0.000 0.072 2283 3929 3523 0 0 0 0 0 0

627 -0.60 -146.0 75.9 -11.9 105 634 0.00 1.85 0.00 0.000 6 0.000 0.048 2283 2805 3522 0 0 0 0 0 0

974 -0.62 -146.0 111.7 -9.5 156 978 0.00 2.33 0.00 0.000 4 0.000 0.050 2282 1366 3522 0 0 0 0 0 0

996 -0.65 -146.0 114.0 -9.4 157 1003 0.00 2.40 0.00 0.000 6 0.000 0.063 2278 2787 3521 0 0 0 0 0 0

1324 -0.67 -146.0 141.1 -8.1 188 1328 0.00 2.00 0.00 0.000 4 0.000 0.073 2273 3936 3521 0 0 0 0 0 0

1375 -0.70 -146.0 145.9 -9.0 192 1382 0.00 1.90 0.00 0.000 6 0.000 0.048 2272 2784 3521 0 0 0 0 0 0

1701 -0.73 -146.0 173.5 -8.2 223 1706 0.00 2.28 0.00 0.000 4 0.000 0.050 2273 1373 3521 0 0 0 0 0 0

1732 -0.75 -146.0 176.1 -7.7 225 1737 0.12 2.42 0.00 0.000 6 0.097 0.063 2219 2802 3520 0 0 0 0 0 0

2059 -0.68 -146.0 215.0 -11.7 255 2064 0.12 1.98 0.00 0.000 4 0.181 0.073 2245 3932 3521 0 0 0 0 0 0

2098 -0.66 -146.0 219.7 -10.6 258 2105 0.00 1.88 0.00 0.000 6 0.000 0.049 2244 2800 3520 0 0 0 0 0 0

2424 -0.66 -146.0 253.4 -10.6 289 2425 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2800 3520 0 0 0 0 0 0

2744 -0.66 -146.0 289.2 -11.0 319 2748 0.00 2.35 0.00 0.000 4 0.000 0.050 2244 1362 3520 0 0 0 0 0 0

2802 -0.66 -146.0 295.7 -10.8 323 2809 0.00 2.45 0.00 0.000 6 0.000 0.063 2243 2807 3520 0 0 0 0 0 0

3129 -0.66 -146.0 328.2 -9.5 354 3130 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2808 3520 0 0 0 0 0 0

3450 -0.66 -146.0 356.7 -9.0 384 3454 0.00 2.35 0.00 0.000 4 0.000 0.050 2243 1363 3520 0 0 0 0 0 0

3495 -0.68 -146.0 361.1 -8.6 387 3502 0.00 2.45 0.00 0.000 6 0.000 0.062 2238 2800 3520 0 0 0 0 0 0

3820 -0.68 -146.0 392.6 -10.3 418 3821 0.00 0.00 0.00 0.000 6 0.000 0.000 2238 2800 3520 0 0 0 0 0 0

4151 -0.68 -146.0 424.7 -9.5 434 4152 0.00 0.00 0.00 0.000 6 0.000 0.000 2238 2800 3520 0 0 0 0 0 0

4457 -0.68 -146.0 453.9 -9.5 444 4458 0.00 0.00 0.00 0.000 6 0.000 0.000 2238 2800 3521 0 0 0 0 0 0

4764 -0.68 -146.0 483.2 -9.7 454 4769 0.00 2.30 0.00 0.000 4 0.000 0.050 2238 1371 3521 0 0 0 0 0 0

4809 -0.68 -146.0 488.0 -9.9 455 4813 0.00 2.42 0.00 0.000 6 0.000 0.062 2235 2793 3521 0 0 0 0 0 0

5134 -0.68 -146.0 521.0 -10.4 466 5135 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2793 3521 0 0 0 0 0 0

5442 -0.68 -146.0 551.4 -9.9 476 5446 0.00 2.33 0.00 0.000 4 0.000 0.049 2235 1362 3522 0 0 0 0 0 0

5515 -0.70 -146.0 558.9 -9.8 478 5519 0.00 2.40 0.00 0.000 6 0.000 0.061 2235 2787 3522 0 0 0 0 0 0

5840 -0.70 -146.0 589.3 -9.4 489 5844 0.00 1.98 0.00 0.000 4 0.000 0.073 2235 3936 3522 0 0 0 0 0 0

5875 -0.70 -146.0 592.8 -10.0 490 5879 0.00 1.88 0.00 0.000 6 0.000 0.047 2235 2781 3522 0 0 0 0 0 0

5973 end dive: BOTTOM_OBSTACLE_DETECTED

state 5973 begin apogee

5981 -0.14 0.0 601.8 9.3 493 6112 0.60 0.00 123.90 0.975 4 0.133 0.000 2426 2604 2923 0 0 0 0 0 0

6112 end apogee: CONTROL_FINISHED_OK

state 6112 begin climb

6115 0.57 146.0 606.6 0.0 497 6255 0.62 2.42 131.93 0.952 4 0.067 0.050 2664 1187 2327 0 0 0 0 0 0

6407 0.57 146.0 584.2 10.6 505 6412 0.00 2.45 0.00 0.000 6 0.000 0.055 2665 2601 2318 0 0 0 0 0 0

6727 0.52 146.0 548.5 11.3 516 6731 0.00 2.33 0.00 0.000 4 0.000 0.052 2666 1178 2315 0 0 0 0 0 0

6959 0.52 146.0 524.0 10.6 523 6963 0.00 2.35 0.00 0.000 6 0.000 0.056 2666 2597 2315 0 0 0 0 0 0

7294 0.48 146.0 484.6 11.9 534 7299 0.12 2.25 0.00 0.000 4 0.198 0.067 2635 3933 2313 0 0 0 0 0 0

7324 0.44 146.0 481.1 12.1 535 7328 0.00 2.17 0.00 0.000 6 0.000 0.044 2634 2583 2312 0 0 0 0 0 0

7660 0.45 161.4 448.7 9.3 546 7679 0.00 2.33 12.07 0.848 4 0.000 0.052 2635 1192 2265 0 0 0 0 0 0

7697 0.51 185.0 445.3 8.9 547 7725 0.00 2.30 22.52 0.858 6 0.000 0.055 2635 2594 2168 0 0 0 0 0 0

8032 0.56 208.1 414.8 8.9 558 8057 0.00 2.28 20.42 0.845 4 0.000 0.066 2634 3932 2075 0 0 0 0 0 0

8075 0.58 210.3 410.5 9.9 558 8079 0.00 2.20 0.00 0.000 6 0.000 0.044 2635 2589 2072 0 0 0 0 0 0

8404 0.65 226.4 380.2 9.3 581 8428 0.12 2.28 16.35 0.822 4 0.103 0.051 2693 1188 2002 0 0 0 0 0 0

8464 0.65 226.4 372.7 12.6 586 8468 0.00 2.30 0.00 0.000 6 0.000 0.055 2693 2592 2000 0 0 0 0 0 0

8790 0.62 226.4 330.3 12.7 616 8791 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2592 1996 0 0 0 0 0 0

9113 0.59 226.4 289.6 13.0 646 9117 0.00 2.30 0.00 0.000 4 0.000 0.054 2693 1186 1995 0 0 0 0 0 0

9141 0.59 226.4 285.4 12.4 648 9146 0.00 2.30 0.00 0.000 6 0.000 0.055 2693 2583 1996 0 0 0 0 0 0

9473 0.56 226.4 247.5 11.7 679 9478 0.15 2.30 0.00 0.000 4 0.182 0.067 2652 3929 1994 0 0 0 0 0 0

9574 0.56 226.4 235.9 11.4 687 9581 0.00 2.12 0.00 0.000 6 0.000 0.044 2652 2611 1993 0 0 0 0 0 0

9902 0.62 249.7 206.6 8.9 718 9928 0.00 2.33 20.92 0.741 4 0.000 0.054 2653 1185 1903 0 0 0 0 0 0

9974 0.73 269.3 199.9 9.1 724 10003 0.17 2.35 18.27 0.722 6 0.086 0.055 2727 2618 1824 0 0 0 0 0 0

10321 0.69 269.3 147.1 15.0 757 10326 0.12 2.25 0.00 0.000 4 0.184 0.067 2695 3932 1818 0 0 0 0 0 0

10350 0.66 269.3 142.5 15.3 759 10354 0.00 2.12 0.00 0.000 6 0.000 0.044 2695 2622 1817 0 0 0 0 0 0

10682 0.69 269.3 100.0 12.5 790 10686 0.00 2.33 0.00 0.000 4 0.000 0.054 2695 1182 1816 0 0 0 0 0 0

10767 0.75 269.3 90.7 10.5 804 10774 0.00 2.33 0.00 0.000 6 0.000 0.055 2695 2599 1816 0 0 0 0 0 0

11115 0.78 269.3 52.2 12.2 865 11121 0.00 2.25 0.00 0.000 4 0.000 0.066 2695 3926 1816 0 0 0 0 0 0

11130 0.81 269.3 50.2 12.9 867 11137 0.12 2.22 0.00 0.000 6 0.103 0.044 2746 2565 1815 0 0 0 0 0 0

11467 end climb: FINISH_DEPTH_REACHED

state 11467 begin subsurface finish

11475 0.03 47.9 8.1 -17.5 926 11523 0.85 2.33 -39.08 0.000 4 0.151 0.064 2490 1191 2729 0 0 0 0 0 0

11524 end subsurface finish: CONTROL_FINISHED_OK

state 11524 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	832	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	22	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	260111,003741,6642.806,-5834.523,0,3070.7,0,-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	5.73	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	260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6	MHEAD_RNG_PITCHd_Wd	101.7,85535,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	747

FREEZE	8.07,-1.642,-1.812,3,10,0	ALTIM_BOTTOM_PING	601.8,11.9
FINISH1	8.1,1.026523,48	_24V_AH	21.2,93.947
FINISH2	2.8	_10V_AH	9.7,63.872
RAFOS_CLK	658	FG_AHR_24Vo	0.000
RAFOS	0,1296028875,8.033334,8.020833,52,50,45,41,40,40,1840,1240,1700,1401,144,884	FG_AHR_10Vo	0.000
RAFOS_FIX	6642.805664,-5834.522949,260111,000041,3,71,0.27	MEM	151768
IRIDIUM_FIX	6614.97,-5826.75,250111,171751	DATA_FILE_SIZE	33388,934
TT8_MAMPS	0.028462	CAP_FILE_SIZE	121846,0
HUMID	50.15	CFSIZE	260165632,195174400
INTERNAL_PRESSURE	8.62185	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.20	SOUNDSPEED	1451.7
XPDR_PINGS	0	GPS	260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6
ALTIM_TOP_PING	19.5,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	198	15.44	SBE_CT	652	24	332.07
Roll_motor	108	129	296.42	SBE_O2	0	0	0.00
VBD_pump_during_apogee	366	975	7576.40	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	22.26	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2354	19	454.93
LPSleep	6890	2	154.40
TT8_Active	414	19	80.08
TT8_Sampling	1682	39	651.68
TT8_CF8	238	45	106.44
TT8_Kalman	0	0	0.00
Analog_circuits	1334	12	155.29
GPS_charging	0	0	0.00
Compass	1658	15	241.27
RAFOS	2520	3	73.33
Transponder	20	30	6.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
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	2477	3935	2908	0	0	0	0	0	0
28	-0.57	-146.0	7.7	-0.0	1	54	0.52	4.32	-16.80	0.000	4	0.093	0.054	2291	1362	3520	0	0	0	0	0	0
209	-0.60	-146.0	28.1	-11.6	32	215	0.00	2.42	0.00	0.000	6	0.000	0.063	2288	2785	3524	0	0	0	0	0	0
556	-0.60	-146.0	67.5	-9.5	93	563	0.00	1.95	0.00	0.000	4	0.000	0.072	2283	3929	3523	0	0	0	0	0	0
627	-0.60	-146.0	75.9	-11.9	105	634	0.00	1.85	0.00	0.000	6	0.000	0.048	2283	2805	3522	0	0	0	0	0	0
974	-0.62	-146.0	111.7	-9.5	156	978	0.00	2.33	0.00	0.000	4	0.000	0.050	2282	1366	3522	0	0	0	0	0	0
996	-0.65	-146.0	114.0	-9.4	157	1003	0.00	2.40	0.00	0.000	6	0.000	0.063	2278	2787	3521	0	0	0	0	0	0
1324	-0.67	-146.0	141.1	-8.1	188	1328	0.00	2.00	0.00	0.000	4	0.000	0.073	2273	3936	3521	0	0	0	0	0	0
1375	-0.70	-146.0	145.9	-9.0	192	1382	0.00	1.90	0.00	0.000	6	0.000	0.048	2272	2784	3521	0	0	0	0	0	0
1701	-0.73	-146.0	173.5	-8.2	223	1706	0.00	2.28	0.00	0.000	4	0.000	0.050	2273	1373	3521	0	0	0	0	0	0
1732	-0.75	-146.0	176.1	-7.7	225	1737	0.12	2.42	0.00	0.000	6	0.097	0.063	2219	2802	3520	0	0	0	0	0	0
2059	-0.68	-146.0	215.0	-11.7	255	2064	0.12	1.98	0.00	0.000	4	0.181	0.073	2245	3932	3521	0	0	0	0	0	0
2098	-0.66	-146.0	219.7	-10.6	258	2105	0.00	1.88	0.00	0.000	6	0.000	0.049	2244	2800	3520	0	0	0	0	0	0
2424	-0.66	-146.0	253.4	-10.6	289	2425	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2800	3520	0	0	0	0	0	0
2744	-0.66	-146.0	289.2	-11.0	319	2748	0.00	2.35	0.00	0.000	4	0.000	0.050	2244	1362	3520	0	0	0	0	0	0
2802	-0.66	-146.0	295.7	-10.8	323	2809	0.00	2.45	0.00	0.000	6	0.000	0.063	2243	2807	3520	0	0	0	0	0	0
3129	-0.66	-146.0	328.2	-9.5	354	3130	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2808	3520	0	0	0	0	0	0
3450	-0.66	-146.0	356.7	-9.0	384	3454	0.00	2.35	0.00	0.000	4	0.000	0.050	2243	1363	3520	0	0	0	0	0	0
3495	-0.68	-146.0	361.1	-8.6	387	3502	0.00	2.45	0.00	0.000	6	0.000	0.062	2238	2800	3520	0	0	0	0	0	0
3820	-0.68	-146.0	392.6	-10.3	418	3821	0.00	0.00	0.00	0.000	6	0.000	0.000	2238	2800	3520	0	0	0	0	0	0
4151	-0.68	-146.0	424.7	-9.5	434	4152	0.00	0.00	0.00	0.000	6	0.000	0.000	2238	2800	3520	0	0	0	0	0	0
4457	-0.68	-146.0	453.9	-9.5	444	4458	0.00	0.00	0.00	0.000	6	0.000	0.000	2238	2800	3521	0	0	0	0	0	0
4764	-0.68	-146.0	483.2	-9.7	454	4769	0.00	2.30	0.00	0.000	4	0.000	0.050	2238	1371	3521	0	0	0	0	0	0
4809	-0.68	-146.0	488.0	-9.9	455	4813	0.00	2.42	0.00	0.000	6	0.000	0.062	2235	2793	3521	0	0	0	0	0	0
5134	-0.68	-146.0	521.0	-10.4	466	5135	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2793	3521	0	0	0	0	0	0
5442	-0.68	-146.0	551.4	-9.9	476	5446	0.00	2.33	0.00	0.000	4	0.000	0.049	2235	1362	3522	0	0	0	0	0	0
5515	-0.70	-146.0	558.9	-9.8	478	5519	0.00	2.40	0.00	0.000	6	0.000	0.061	2235	2787	3522	0	0	0	0	0	0
5840	-0.70	-146.0	589.3	-9.4	489	5844	0.00	1.98	0.00	0.000	4	0.000	0.073	2235	3936	3522	0	0	0	0	0	0
5875	-0.70	-146.0	592.8	-10.0	490	5879	0.00	1.88	0.00	0.000	6	0.000	0.047	2235	2781	3522	0	0	0	0	0	0
5973	end dive: BOTTOM_OBSTACLE_DETECTED
state	5973	begin apogee
5981	-0.14	0.0	601.8	9.3	493	6112	0.60	0.00	123.90	0.975	4	0.133	0.000	2426	2604	2923	0	0	0	0	0	0
6112	end apogee: CONTROL_FINISHED_OK
state	6112	begin climb
6115	0.57	146.0	606.6	0.0	497	6255	0.62	2.42	131.93	0.952	4	0.067	0.050	2664	1187	2327	0	0	0	0	0	0
6407	0.57	146.0	584.2	10.6	505	6412	0.00	2.45	0.00	0.000	6	0.000	0.055	2665	2601	2318	0	0	0	0	0	0
6727	0.52	146.0	548.5	11.3	516	6731	0.00	2.33	0.00	0.000	4	0.000	0.052	2666	1178	2315	0	0	0	0	0	0
6959	0.52	146.0	524.0	10.6	523	6963	0.00	2.35	0.00	0.000	6	0.000	0.056	2666	2597	2315	0	0	0	0	0	0
7294	0.48	146.0	484.6	11.9	534	7299	0.12	2.25	0.00	0.000	4	0.198	0.067	2635	3933	2313	0	0	0	0	0	0
7324	0.44	146.0	481.1	12.1	535	7328	0.00	2.17	0.00	0.000	6	0.000	0.044	2634	2583	2312	0	0	0	0	0	0
7660	0.45	161.4	448.7	9.3	546	7679	0.00	2.33	12.07	0.848	4	0.000	0.052	2635	1192	2265	0	0	0	0	0	0
7697	0.51	185.0	445.3	8.9	547	7725	0.00	2.30	22.52	0.858	6	0.000	0.055	2635	2594	2168	0	0	0	0	0	0
8032	0.56	208.1	414.8	8.9	558	8057	0.00	2.28	20.42	0.845	4	0.000	0.066	2634	3932	2075	0	0	0	0	0	0
8075	0.58	210.3	410.5	9.9	558	8079	0.00	2.20	0.00	0.000	6	0.000	0.044	2635	2589	2072	0	0	0	0	0	0
8404	0.65	226.4	380.2	9.3	581	8428	0.12	2.28	16.35	0.822	4	0.103	0.051	2693	1188	2002	0	0	0	0	0	0
8464	0.65	226.4	372.7	12.6	586	8468	0.00	2.30	0.00	0.000	6	0.000	0.055	2693	2592	2000	0	0	0	0	0	0
8790	0.62	226.4	330.3	12.7	616	8791	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2592	1996	0	0	0	0	0	0
9113	0.59	226.4	289.6	13.0	646	9117	0.00	2.30	0.00	0.000	4	0.000	0.054	2693	1186	1995	0	0	0	0	0	0
9141	0.59	226.4	285.4	12.4	648	9146	0.00	2.30	0.00	0.000	6	0.000	0.055	2693	2583	1996	0	0	0	0	0	0
9473	0.56	226.4	247.5	11.7	679	9478	0.15	2.30	0.00	0.000	4	0.182	0.067	2652	3929	1994	0	0	0	0	0	0
9574	0.56	226.4	235.9	11.4	687	9581	0.00	2.12	0.00	0.000	6	0.000	0.044	2652	2611	1993	0	0	0	0	0	0
9902	0.62	249.7	206.6	8.9	718	9928	0.00	2.33	20.92	0.741	4	0.000	0.054	2653	1185	1903	0	0	0	0	0	0
9974	0.73	269.3	199.9	9.1	724	10003	0.17	2.35	18.27	0.722	6	0.086	0.055	2727	2618	1824	0	0	0	0	0	0
10321	0.69	269.3	147.1	15.0	757	10326	0.12	2.25	0.00	0.000	4	0.184	0.067	2695	3932	1818	0	0	0	0	0	0
10350	0.66	269.3	142.5	15.3	759	10354	0.00	2.12	0.00	0.000	6	0.000	0.044	2695	2622	1817	0	0	0	0	0	0
10682	0.69	269.3	100.0	12.5	790	10686	0.00	2.33	0.00	0.000	4	0.000	0.054	2695	1182	1816	0	0	0	0	0	0
10767	0.75	269.3	90.7	10.5	804	10774	0.00	2.33	0.00	0.000	6	0.000	0.055	2695	2599	1816	0	0	0	0	0	0
11115	0.78	269.3	52.2	12.2	865	11121	0.00	2.25	0.00	0.000	4	0.000	0.066	2695	3926	1816	0	0	0	0	0	0
11130	0.81	269.3	50.2	12.9	867	11137	0.12	2.22	0.00	0.000	6	0.103	0.044	2746	2565	1815	0	0	0	0	0	0
11467	end climb: FINISH_DEPTH_REACHED
state	11467	begin subsurface finish
11475	0.03	47.9	8.1	-17.5	926	11523	0.85	2.33	-39.08	0.000	4	0.151	0.064	2490	1191	2729	0	0	0	0	0	0
11524	end subsurface finish: CONTROL_FINISHED_OK
state	11524	begin surface