Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 839 * 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 839 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 35 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 26 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 -13328.532 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 -13328.532

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 35 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 26 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 839 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 270111,041651,6640.422,-5805.001,40,99.0,59,-37.4 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 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270111,043346,6640.270,-5804.831,12,2.7,31,-37.4 MHEAD_RNG_PITCHd_Wd 90.2,69645,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 631

Post-dive calculations and measurements:

FREEZE 1.79,-1.390,-1.816,2,1,0 ALTIM_TOP_PING 19.6,19.1

FINISH 1.8,1.026638 _24V_AH 21.1,94.632

SM_CCo 12338,224.05,0.086,0,0,440,609.08 _10V_AH 9.6,64.301

SM_GC 1.58,0.00,0.00,224.05,0.000,0.000,0.086,300,2769,440,-6.80,-0.31,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 670 FG_AHR_10Vo 0.000

RAFOS 1,1296101347,4.166667,4.151945,43,43,41,41,41,41,671,1104,208,145,162,294 MEM 151624

RAFOS_FIX 6645.491699,-5804.612305,270111,000040,2,64,0.78 DATA_FILE_SIZE 33340,953

IRIDIUM_FIX 6614.97,-5814.65,260111,222241 CAP_FILE_SIZE 133274,0

TT8_MAMPS 0.029211 CFSIZE 260165632,194785280

HUMID 46.69 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.42653 SOUNDSPEED 1453.1

TCM_TEMP 14.40 GPS 270111,080519,6641.940,-5803.204,34,1.5,46,-37.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 246 90.70 SBE_CT 664 24 336.52

Roll_motor 103 73 160.19 SBE_O2 0 0 0.00

VBD_pump_during_apogee 344 997 7252.79 nil 0 0 0.00

VBD_pump_during_surface 224 86 408.66 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 62.56 nil 0 0 0.00

Iridium_during_connect 17 160 58.79 nil 0 0 0.00

Iridium_during_xfer 508 223 2391.41 nil 0 0 0.00

Transponder_ping 2 420 17.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 50 17.57

TT8 2386 19 456.31

LPSleep 7600 2 168.55

TT8_Active 700 19 133.93

TT8_Sampling 2201 39 843.81

TT8_CF8 699 45 308.15

TT8_Kalman 0 0 0.00

Analog_circuits 1645 12 189.53

GPS_charging 0 0 0.00

Compass 1671 15 240.73

RAFOS 720 3 20.74

Transponder 15 30 4.32

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

16 -0.57 -146.0 0.0 0.0 0 176 0.00 0.00 -154.27 0.000 6 0.000 0.000 299 2799 3520 0 0 0 0 0 0

180 -0.57 -146.0 7.5 -16.0 27 194 8.45 2.40 0.00 0.000 4 0.246 0.046 2282 1363 3524 0 0 0 0 0 0

449 -0.57 -146.0 53.4 -12.1 74 456 0.00 2.38 0.00 0.000 6 0.000 0.062 2275 2775 3524 0 0 0 0 0 0

796 -0.57 -146.0 94.3 -11.2 135 801 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2775 3524 0 0 0 0 0 0

1125 -0.57 -146.0 130.4 -11.7 170 1129 0.00 2.28 0.00 0.000 4 0.000 0.051 2275 1376 3524 0 0 0 0 0 0

1226 -0.59 -146.0 142.0 -11.9 178 1233 0.00 2.35 0.00 0.000 6 0.000 0.063 2275 2755 3524 0 0 0 0 0 0

1554 -0.61 -146.0 176.6 -9.2 209 1557 0.00 2.03 0.00 0.000 4 0.000 0.073 2275 3929 3523 0 0 0 0 0 0

1578 -0.64 -146.0 178.9 -8.7 211 1582 0.00 1.90 0.00 0.000 6 0.000 0.048 2275 2765 3523 0 0 0 0 0 0

1911 -0.67 -146.0 208.0 -9.0 242 1915 0.00 2.25 0.00 0.000 4 0.000 0.050 2275 1372 3523 0 0 0 0 0 0

1942 -0.70 -146.0 211.0 -9.5 244 1946 0.00 2.35 0.00 0.000 6 0.000 0.063 2275 2762 3523 0 0 0 0 0 0

2269 -0.74 -146.0 241.2 -9.5 274 2274 0.12 2.30 0.00 0.000 4 0.099 0.050 2216 1362 3523 0 0 0 0 0 0

2303 -0.68 -146.0 245.5 -12.6 276 2310 0.17 2.38 0.00 0.000 6 0.170 0.061 2254 2759 3523 0 0 0 0 0 0

2630 -0.68 -146.0 277.1 -9.7 307 2634 0.00 2.28 0.00 0.000 4 0.000 0.050 2254 1362 3523 0 0 0 0 0 0

2659 -0.68 -146.0 280.0 -9.4 309 2663 0.00 2.38 0.00 0.000 6 0.000 0.061 2248 2756 3523 0 0 0 0 0 0

2985 -0.68 -146.0 311.7 -10.1 339 2989 0.00 2.25 0.00 0.000 4 0.000 0.049 2248 1370 3523 0 0 0 0 0 0

3008 -0.68 -146.0 313.9 -9.7 340 3015 0.00 2.33 0.00 0.000 6 0.000 0.061 2248 2747 3523 0 0 0 0 0 0

3334 -0.68 -146.0 344.2 -8.6 371 3338 0.00 2.03 0.00 0.000 4 0.000 0.073 2247 3927 3524 0 0 0 0 0 0

3396 -0.68 -146.0 349.7 -8.6 376 3404 0.00 1.95 0.00 0.000 6 0.000 0.047 2247 2747 3524 0 0 0 0 0 0

3723 -0.68 -146.0 376.6 -8.5 407 3724 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2747 3524 0 0 0 0 0 0

4043 -0.68 -146.0 403.8 -9.0 435 4047 0.00 2.25 0.00 0.000 4 0.000 0.049 2247 1363 3525 0 0 0 0 0 0

4081 -0.68 -146.0 407.5 -9.2 436 4086 0.00 2.35 0.00 0.000 6 0.000 0.060 2247 2746 3525 0 0 0 0 0 0

4407 -0.68 -146.0 436.2 -9.0 447 4411 0.00 2.03 0.00 0.000 4 0.000 0.072 2247 3927 3525 0 0 0 0 0 0

4442 -0.68 -146.0 439.4 -8.9 448 4446 0.00 1.92 0.00 0.000 6 0.000 0.047 2247 2746 3525 0 0 0 0 0 0

4784 -0.68 -146.0 469.7 -8.9 459 4785 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2746 3525 0 0 0 0 0 0

5091 -0.68 -146.0 497.4 -9.0 469 5095 0.00 2.05 0.00 0.000 4 0.000 0.073 2247 3927 3526 0 0 0 0 0 0

5120 -0.68 -146.0 500.2 -9.4 469 5126 0.00 1.92 0.00 0.000 6 0.000 0.047 2247 2749 3526 0 0 0 0 0 0

5434 -0.68 -146.0 528.1 -8.9 480 5435 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2749 3526 0 0 0 0 0 0

5741 -0.68 -146.0 553.9 -8.6 490 5745 0.00 2.22 0.00 0.000 4 0.000 0.049 2247 1367 3526 0 0 0 0 0 0

5775 -0.71 -146.0 557.1 -8.4 491 5779 0.00 2.38 0.00 0.000 6 0.000 0.060 2247 2765 3526 0 0 0 0 0 0

6105 -0.71 -146.0 583.9 -8.4 502 6106 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2764 3526 0 0 0 0 0 0

6414 -0.71 -146.0 609.5 -8.5 512 6415 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2765 3526 0 0 0 0 0 0

6684 end dive: TARGET_DEPTH_EXCEEDED

state 6684 begin apogee

6691 -0.14 0.0 633.8 8.7 521 6824 0.55 0.00 125.38 0.998 4 0.132 0.000 2424 2596 2923 0 0 0 0 0 0

6824 end apogee: CONTROL_FINISHED_OK

state 6824 begin climb

6827 0.57 146.0 638.3 0.0 525 6968 0.68 2.42 133.07 0.972 4 0.067 0.049 2661 1189 2327 0 0 0 0 0 0

7095 0.57 154.3 620.1 9.6 533 7112 0.00 2.47 7.95 0.828 6 0.000 0.054 2661 2600 2292 0 0 0 0 0 0

7419 0.54 154.3 583.9 11.4 544 7423 0.00 2.33 0.00 0.000 4 0.000 0.052 2662 1190 2288 0 0 0 0 0 0

7644 0.54 154.3 559.4 12.0 550 7648 0.00 2.30 0.00 0.000 6 0.000 0.055 2662 2596 2288 0 0 0 0 0 0

7958 0.50 154.3 524.9 11.3 560 7962 0.00 2.25 0.00 0.000 4 0.000 0.066 2662 3936 2286 0 0 0 0 0 0

7992 0.41 154.3 520.5 13.4 561 7997 0.20 2.17 0.00 0.000 6 0.188 0.044 2611 2588 2285 0 0 0 0 0 0

8322 0.49 195.1 493.0 8.1 572 8360 0.00 0.00 35.62 0.899 6 0.000 0.000 2610 2588 2127 0 0 0 0 0 0

8663 0.61 243.6 465.3 7.8 583 8713 0.17 2.38 42.55 0.883 4 0.083 0.051 2686 1188 1928 0 0 0 0 0 0

8732 0.61 243.6 457.4 12.4 585 8736 0.00 2.38 0.00 0.000 6 0.000 0.054 2687 2611 1926 0 0 0 0 0 0

9063 0.58 243.6 414.8 13.2 596 9067 0.00 2.30 0.00 0.000 4 0.000 0.052 2690 1184 1920 0 0 0 0 0 0

9097 0.58 243.6 410.2 11.6 597 9101 0.00 2.28 0.00 0.000 6 0.000 0.054 2689 2583 1920 0 0 0 0 0 0

9427 0.55 243.6 366.5 13.4 623 9429 0.15 0.00 0.00 0.000 6 0.184 0.000 2649 2583 1918 0 0 0 0 0 0

9744 0.60 243.6 334.2 10.1 653 9749 0.00 2.25 0.00 0.000 4 0.000 0.051 2649 1192 1917 0 0 0 0 0 0

9774 0.68 243.6 331.3 10.1 655 9779 0.12 2.30 0.00 0.000 6 0.096 0.054 2704 2588 1917 0 0 0 0 0 0

10106 0.63 243.6 283.9 14.4 686 10110 0.00 2.28 0.00 0.000 4 0.000 0.052 2706 1194 1917 0 0 0 0 0 0

10144 0.63 243.6 278.3 13.7 689 10151 0.00 2.28 0.00 0.000 6 0.000 0.054 2706 2573 1917 0 0 0 0 0 0

10472 0.59 243.6 231.7 14.1 720 10477 0.15 2.25 0.00 0.000 4 0.180 0.053 2666 1193 1916 0 0 0 0 0 0

10494 0.59 243.6 228.3 13.2 721 10501 0.00 2.25 0.00 0.000 6 0.000 0.053 2666 2558 1916 0 0 0 0 0 0

10820 0.63 243.6 193.0 11.4 752 10824 0.00 2.33 0.00 0.000 4 0.000 0.066 2666 3925 1916 0 0 0 0 0 0

10843 0.63 243.6 190.3 11.5 754 10847 0.00 2.25 0.00 0.000 6 0.000 0.044 2666 2546 1914 0 0 0 0 0 0

11169 0.67 243.6 155.4 10.2 784 11173 0.00 2.20 0.00 0.000 4 0.000 0.052 2666 1187 1915 0 0 0 0 0 0

11198 0.74 245.8 152.5 9.9 786 11205 0.12 2.25 0.00 0.000 6 0.101 0.053 2719 2550 1914 0 0 0 0 0 0

11524 0.70 245.8 106.2 13.7 817 11525 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2549 1915 0 0 0 0 0 0

11860 0.68 245.8 60.9 15.2 872 11866 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2550 1914 0 0 0 0 0 0

12205 0.68 245.8 17.7 11.8 933 12211 0.00 2.35 0.00 0.000 4 0.000 0.066 2720 3925 1914 0 0 0 0 0 0

12311 end climb: SURFACE_DEPTH_REACHED

state 12311 begin surface coast

12317 end surface coast: CONTROL_FINISHED_OK

state 12317 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	839	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	35	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	26	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	-13328.532	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	270111,041651,6640.422,-5805.001,40,99.0,59,-37.4	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	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270111,043346,6640.270,-5804.831,12,2.7,31,-37.4	MHEAD_RNG_PITCHd_Wd	90.2,69645,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	631

FREEZE	1.79,-1.390,-1.816,2,1,0	ALTIM_TOP_PING	19.6,19.1
FINISH	1.8,1.026638	_24V_AH	21.1,94.632
SM_CCo	12338,224.05,0.086,0,0,440,609.08	_10V_AH	9.6,64.301
SM_GC	1.58,0.00,0.00,224.05,0.000,0.000,0.086,300,2769,440,-6.80,-0.31,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	670	FG_AHR_10Vo	0.000
RAFOS	1,1296101347,4.166667,4.151945,43,43,41,41,41,41,671,1104,208,145,162,294	MEM	151624
RAFOS_FIX	6645.491699,-5804.612305,270111,000040,2,64,0.78	DATA_FILE_SIZE	33340,953
IRIDIUM_FIX	6614.97,-5814.65,260111,222241	CAP_FILE_SIZE	133274,0
TT8_MAMPS	0.029211	CFSIZE	260165632,194785280
HUMID	46.69	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.42653	SOUNDSPEED	1453.1
TCM_TEMP	14.40	GPS	270111,080519,6641.940,-5803.204,34,1.5,46,-37.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	246	90.70	SBE_CT	664	24	336.52
Roll_motor	103	73	160.19	SBE_O2	0	0	0.00
VBD_pump_during_apogee	344	997	7252.79	nil	0	0	0.00
VBD_pump_during_surface	224	86	408.66	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	62.56	nil	0	0	0.00
Iridium_during_connect	17	160	58.79	nil	0	0	0.00
Iridium_during_xfer	508	223	2391.41	nil	0	0	0.00
Transponder_ping	2	420	17.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	50	17.57
TT8	2386	19	456.31
LPSleep	7600	2	168.55
TT8_Active	700	19	133.93
TT8_Sampling	2201	39	843.81
TT8_CF8	699	45	308.15
TT8_Kalman	0	0	0.00
Analog_circuits	1645	12	189.53
GPS_charging	0	0	0.00
Compass	1671	15	240.73
RAFOS	720	3	20.74
Transponder	15	30	4.32

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
16	-0.57	-146.0	0.0	0.0	0	176	0.00	0.00	-154.27	0.000	6	0.000	0.000	299	2799	3520	0	0	0	0	0	0
180	-0.57	-146.0	7.5	-16.0	27	194	8.45	2.40	0.00	0.000	4	0.246	0.046	2282	1363	3524	0	0	0	0	0	0
449	-0.57	-146.0	53.4	-12.1	74	456	0.00	2.38	0.00	0.000	6	0.000	0.062	2275	2775	3524	0	0	0	0	0	0
796	-0.57	-146.0	94.3	-11.2	135	801	0.00	0.00	0.00	0.000	6	0.000	0.000	2275	2775	3524	0	0	0	0	0	0
1125	-0.57	-146.0	130.4	-11.7	170	1129	0.00	2.28	0.00	0.000	4	0.000	0.051	2275	1376	3524	0	0	0	0	0	0
1226	-0.59	-146.0	142.0	-11.9	178	1233	0.00	2.35	0.00	0.000	6	0.000	0.063	2275	2755	3524	0	0	0	0	0	0
1554	-0.61	-146.0	176.6	-9.2	209	1557	0.00	2.03	0.00	0.000	4	0.000	0.073	2275	3929	3523	0	0	0	0	0	0
1578	-0.64	-146.0	178.9	-8.7	211	1582	0.00	1.90	0.00	0.000	6	0.000	0.048	2275	2765	3523	0	0	0	0	0	0
1911	-0.67	-146.0	208.0	-9.0	242	1915	0.00	2.25	0.00	0.000	4	0.000	0.050	2275	1372	3523	0	0	0	0	0	0
1942	-0.70	-146.0	211.0	-9.5	244	1946	0.00	2.35	0.00	0.000	6	0.000	0.063	2275	2762	3523	0	0	0	0	0	0
2269	-0.74	-146.0	241.2	-9.5	274	2274	0.12	2.30	0.00	0.000	4	0.099	0.050	2216	1362	3523	0	0	0	0	0	0
2303	-0.68	-146.0	245.5	-12.6	276	2310	0.17	2.38	0.00	0.000	6	0.170	0.061	2254	2759	3523	0	0	0	0	0	0
2630	-0.68	-146.0	277.1	-9.7	307	2634	0.00	2.28	0.00	0.000	4	0.000	0.050	2254	1362	3523	0	0	0	0	0	0
2659	-0.68	-146.0	280.0	-9.4	309	2663	0.00	2.38	0.00	0.000	6	0.000	0.061	2248	2756	3523	0	0	0	0	0	0
2985	-0.68	-146.0	311.7	-10.1	339	2989	0.00	2.25	0.00	0.000	4	0.000	0.049	2248	1370	3523	0	0	0	0	0	0
3008	-0.68	-146.0	313.9	-9.7	340	3015	0.00	2.33	0.00	0.000	6	0.000	0.061	2248	2747	3523	0	0	0	0	0	0
3334	-0.68	-146.0	344.2	-8.6	371	3338	0.00	2.03	0.00	0.000	4	0.000	0.073	2247	3927	3524	0	0	0	0	0	0
3396	-0.68	-146.0	349.7	-8.6	376	3404	0.00	1.95	0.00	0.000	6	0.000	0.047	2247	2747	3524	0	0	0	0	0	0
3723	-0.68	-146.0	376.6	-8.5	407	3724	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2747	3524	0	0	0	0	0	0
4043	-0.68	-146.0	403.8	-9.0	435	4047	0.00	2.25	0.00	0.000	4	0.000	0.049	2247	1363	3525	0	0	0	0	0	0
4081	-0.68	-146.0	407.5	-9.2	436	4086	0.00	2.35	0.00	0.000	6	0.000	0.060	2247	2746	3525	0	0	0	0	0	0
4407	-0.68	-146.0	436.2	-9.0	447	4411	0.00	2.03	0.00	0.000	4	0.000	0.072	2247	3927	3525	0	0	0	0	0	0
4442	-0.68	-146.0	439.4	-8.9	448	4446	0.00	1.92	0.00	0.000	6	0.000	0.047	2247	2746	3525	0	0	0	0	0	0
4784	-0.68	-146.0	469.7	-8.9	459	4785	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2746	3525	0	0	0	0	0	0
5091	-0.68	-146.0	497.4	-9.0	469	5095	0.00	2.05	0.00	0.000	4	0.000	0.073	2247	3927	3526	0	0	0	0	0	0
5120	-0.68	-146.0	500.2	-9.4	469	5126	0.00	1.92	0.00	0.000	6	0.000	0.047	2247	2749	3526	0	0	0	0	0	0
5434	-0.68	-146.0	528.1	-8.9	480	5435	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2749	3526	0	0	0	0	0	0
5741	-0.68	-146.0	553.9	-8.6	490	5745	0.00	2.22	0.00	0.000	4	0.000	0.049	2247	1367	3526	0	0	0	0	0	0
5775	-0.71	-146.0	557.1	-8.4	491	5779	0.00	2.38	0.00	0.000	6	0.000	0.060	2247	2765	3526	0	0	0	0	0	0
6105	-0.71	-146.0	583.9	-8.4	502	6106	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2764	3526	0	0	0	0	0	0
6414	-0.71	-146.0	609.5	-8.5	512	6415	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2765	3526	0	0	0	0	0	0
6684	end dive: TARGET_DEPTH_EXCEEDED
state	6684	begin apogee
6691	-0.14	0.0	633.8	8.7	521	6824	0.55	0.00	125.38	0.998	4	0.132	0.000	2424	2596	2923	0	0	0	0	0	0
6824	end apogee: CONTROL_FINISHED_OK
state	6824	begin climb
6827	0.57	146.0	638.3	0.0	525	6968	0.68	2.42	133.07	0.972	4	0.067	0.049	2661	1189	2327	0	0	0	0	0	0
7095	0.57	154.3	620.1	9.6	533	7112	0.00	2.47	7.95	0.828	6	0.000	0.054	2661	2600	2292	0	0	0	0	0	0
7419	0.54	154.3	583.9	11.4	544	7423	0.00	2.33	0.00	0.000	4	0.000	0.052	2662	1190	2288	0	0	0	0	0	0
7644	0.54	154.3	559.4	12.0	550	7648	0.00	2.30	0.00	0.000	6	0.000	0.055	2662	2596	2288	0	0	0	0	0	0
7958	0.50	154.3	524.9	11.3	560	7962	0.00	2.25	0.00	0.000	4	0.000	0.066	2662	3936	2286	0	0	0	0	0	0
7992	0.41	154.3	520.5	13.4	561	7997	0.20	2.17	0.00	0.000	6	0.188	0.044	2611	2588	2285	0	0	0	0	0	0
8322	0.49	195.1	493.0	8.1	572	8360	0.00	0.00	35.62	0.899	6	0.000	0.000	2610	2588	2127	0	0	0	0	0	0
8663	0.61	243.6	465.3	7.8	583	8713	0.17	2.38	42.55	0.883	4	0.083	0.051	2686	1188	1928	0	0	0	0	0	0
8732	0.61	243.6	457.4	12.4	585	8736	0.00	2.38	0.00	0.000	6	0.000	0.054	2687	2611	1926	0	0	0	0	0	0
9063	0.58	243.6	414.8	13.2	596	9067	0.00	2.30	0.00	0.000	4	0.000	0.052	2690	1184	1920	0	0	0	0	0	0
9097	0.58	243.6	410.2	11.6	597	9101	0.00	2.28	0.00	0.000	6	0.000	0.054	2689	2583	1920	0	0	0	0	0	0
9427	0.55	243.6	366.5	13.4	623	9429	0.15	0.00	0.00	0.000	6	0.184	0.000	2649	2583	1918	0	0	0	0	0	0
9744	0.60	243.6	334.2	10.1	653	9749	0.00	2.25	0.00	0.000	4	0.000	0.051	2649	1192	1917	0	0	0	0	0	0
9774	0.68	243.6	331.3	10.1	655	9779	0.12	2.30	0.00	0.000	6	0.096	0.054	2704	2588	1917	0	0	0	0	0	0
10106	0.63	243.6	283.9	14.4	686	10110	0.00	2.28	0.00	0.000	4	0.000	0.052	2706	1194	1917	0	0	0	0	0	0
10144	0.63	243.6	278.3	13.7	689	10151	0.00	2.28	0.00	0.000	6	0.000	0.054	2706	2573	1917	0	0	0	0	0	0
10472	0.59	243.6	231.7	14.1	720	10477	0.15	2.25	0.00	0.000	4	0.180	0.053	2666	1193	1916	0	0	0	0	0	0
10494	0.59	243.6	228.3	13.2	721	10501	0.00	2.25	0.00	0.000	6	0.000	0.053	2666	2558	1916	0	0	0	0	0	0
10820	0.63	243.6	193.0	11.4	752	10824	0.00	2.33	0.00	0.000	4	0.000	0.066	2666	3925	1916	0	0	0	0	0	0
10843	0.63	243.6	190.3	11.5	754	10847	0.00	2.25	0.00	0.000	6	0.000	0.044	2666	2546	1914	0	0	0	0	0	0
11169	0.67	243.6	155.4	10.2	784	11173	0.00	2.20	0.00	0.000	4	0.000	0.052	2666	1187	1915	0	0	0	0	0	0
11198	0.74	245.8	152.5	9.9	786	11205	0.12	2.25	0.00	0.000	6	0.101	0.053	2719	2550	1914	0	0	0	0	0	0
11524	0.70	245.8	106.2	13.7	817	11525	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2549	1915	0	0	0	0	0	0
11860	0.68	245.8	60.9	15.2	872	11866	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2550	1914	0	0	0	0	0	0
12205	0.68	245.8	17.7	11.8	933	12211	0.00	2.35	0.00	0.000	4	0.000	0.066	2720	3925	1914	0	0	0	0	0	0
12311	end climb: SURFACE_DEPTH_REACHED
state	12311	begin surface coast
12317	end surface coast: CONTROL_FINISHED_OK
state	12317	begin surface