Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 844 * 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 844 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 24 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 -13516.591 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 -13516.591

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 24 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 844 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 270111,230336,6644.181,-5749.725,39,1.0,39,-37.4 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 1.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270111,230336,6644.181,-5749.725,181,99.0,181,-37.4 MHEAD_RNG_PITCHd_Wd 89.4,56583,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 632

Post-dive calculations and measurements:

FREEZE 0.65,-1.049,-1.745,3,3,0 ALTIM_TOP_PING 19.4,19.4

FINISH 0.7,1.025625 _24V_AH 21.2,95.239

SM_CCo 12723,210.32,0.086,0,0,440,609.08 _10V_AH 9.6,64.674

SM_GC 1.27,0.00,0.00,210.32,0.000,0.000,0.086,296,2781,440,-6.80,0.03,609.08 FG_AHR_24Vo 0.000

RAFOS_CLK 739 FG_AHR_10Vo 0.000

RAFOS 0,1296172867,0.033333,0.018611,47,44,42,42,41,39,877,535,1027,162,1908,1047 MEM 151648

RAFOS_FIX 6645.414062,-5749.919434,280111,000022,3,86,0.38 DATA_FILE_SIZE 36654,1015

IRIDIUM_FIX 6614.97,-5747.57,270111,151521 CAP_FILE_SIZE 140574,0

TT8_MAMPS 0.029211 CFSIZE 260165632,194486272

HUMID 46.96 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.4363 SOUNDSPEED 1454.7

TCM_TEMP 14.50 GPS 280111,025801,6643.458,-5746.208,60,1.1,60,-37.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 244 102.57 SBE_CT 706 24 359.26

Roll_motor 111 80 189.32 SBE_O2 0 0 0.00

VBD_pump_during_apogee 349 992 7359.42 nil 0 0 0.00

VBD_pump_during_surface 210 85 382.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 96 103 211.27 nil 0 0 0.00

Iridium_during_connect 29 160 100.22 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 17.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 88.11

TT8 2538 19 485.37

LPSleep 7791 2 172.78

TT8_Active 724 19 138.56

TT8_Sampling 2098 39 804.29

TT8_CF8 769 45 339.16

TT8_Kalman 0 0 0.00

Analog_circuits 1715 12 197.58

GPS_charging 0 0 0.00

Compass 1773 15 255.41

RAFOS 2520 3 72.58

Transponder 14 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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.57 -146.0 0.0 0.0 0 178 0.00 0.00 -154.45 0.000 6 0.000 0.000 269 2785 3520 0 0 0 0 0 0

181 -0.57 -146.0 6.6 -15.3 28 195 8.52 2.38 0.00 0.000 4 0.244 0.047 2282 1369 3522 0 0 0 0 0 0

208 0.37 -146.0 22.5 -46.6 32 216 1.10 2.38 0.00 0.000 6 0.158 0.060 2589 2776 3523 0 0 0 0 0 0

557 -0.14 -146.0 46.8 -6.2 93 564 0.47 2.00 0.00 0.000 4 0.120 0.069 2431 3933 3524 0 0 0 0 0 0

575 -0.57 -146.0 48.0 -6.7 95 582 0.40 2.33 0.00 0.000 6 0.074 0.047 2280 2513 3523 0 0 0 0 0 0

923 -0.59 -146.0 80.2 -10.2 156 930 0.00 2.45 0.00 0.000 4 0.000 0.071 2273 3928 3522 0 0 0 0 0 0

1068 -0.63 -146.0 95.1 -10.1 181 1075 0.00 2.22 0.00 0.000 6 0.000 0.046 2273 2565 3523 0 0 0 0 0 0

1404 -0.66 -146.0 128.8 -9.3 216 1408 0.00 2.40 0.00 0.000 4 0.000 0.071 2272 3933 3522 0 0 0 0 0 0

1518 -0.71 -146.0 139.1 -8.5 225 1525 0.00 2.22 0.00 0.000 6 0.000 0.047 2273 2586 3522 0 0 0 0 0 0

1845 -0.74 -146.0 166.7 -8.5 256 1849 0.10 2.38 0.00 0.000 4 0.116 0.072 2222 3927 3521 0 0 0 0 0 0

1978 -0.69 -146.0 182.1 -12.5 267 1982 0.00 2.15 0.00 0.000 6 0.000 0.046 2222 2622 3521 0 0 0 0 0 0

2304 -0.63 -146.0 222.2 -11.7 297 2309 0.17 2.30 0.00 0.000 4 0.164 0.070 2264 3928 3521 0 0 0 0 0 0

2350 -0.67 -146.0 226.7 -8.7 300 2357 0.00 2.12 0.00 0.000 6 0.000 0.046 2264 2639 3522 0 0 0 0 0 0

2677 -0.70 -146.0 253.2 -8.1 331 2681 0.00 2.25 0.00 0.000 4 0.000 0.072 2261 3934 3522 0 0 0 0 0 0

2734 -0.74 -146.0 258.1 -8.2 335 2741 0.00 2.12 0.00 0.000 6 0.000 0.046 2261 2642 3522 0 0 0 0 0 0

3060 -0.77 -146.0 286.0 -8.8 366 3065 0.10 2.28 0.00 0.000 4 0.118 0.071 2206 3936 3522 0 0 0 0 0 0

3112 -0.69 -146.0 292.2 -12.2 370 3119 0.17 2.10 0.00 0.000 6 0.162 0.045 2252 2658 3522 0 0 0 0 0 0

3439 -0.69 -146.0 322.6 -9.0 401 3443 0.00 2.20 0.00 0.000 4 0.000 0.070 2247 3929 3523 0 0 0 0 0 0

3495 -0.69 -146.0 328.3 -9.7 405 3501 0.00 2.08 0.00 0.000 6 0.000 0.046 2247 2667 3523 0 0 0 0 0 0

3822 -0.69 -146.0 358.6 -9.3 436 3826 0.00 2.20 0.00 0.000 4 0.000 0.071 2247 3928 3523 0 0 0 0 0 0

3913 -0.71 -146.0 367.1 -9.4 444 3916 0.00 2.00 0.00 0.000 6 0.000 0.046 2247 2701 3523 0 0 0 0 0 0

4244 -0.71 -146.0 397.1 -9.2 475 4249 0.00 2.15 0.00 0.000 4 0.000 0.070 2247 3938 3523 0 0 0 0 0 0

4272 -0.71 -146.0 399.8 -9.0 477 4280 0.00 2.00 0.00 0.000 6 0.000 0.045 2247 2709 3523 0 0 0 0 0 0

4586 -0.71 -146.0 427.4 -9.0 488 4590 0.00 2.12 0.00 0.000 4 0.000 0.071 2247 3934 3524 0 0 0 0 0 0

4621 -0.71 -146.0 430.7 -9.6 489 4624 0.00 2.00 0.00 0.000 6 0.000 0.046 2247 2709 3524 0 0 0 0 0 0

4957 -0.71 -146.0 461.1 -9.1 500 4961 0.00 2.12 0.00 0.000 4 0.000 0.071 2247 3935 3524 0 0 0 0 0 0

4986 -0.71 -146.0 463.8 -9.3 501 4990 0.00 2.00 0.00 0.000 6 0.000 0.046 2247 2716 3524 0 0 0 0 0 0

5332 -0.71 -146.0 494.9 -9.1 512 5334 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2716 3524 0 0 0 0 0 0

5634 -0.71 -146.0 522.6 -8.9 522 5635 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2716 3524 0 0 0 0 0 0

5942 -0.71 -146.0 549.3 -8.7 532 5949 0.00 2.10 0.00 0.000 4 0.000 0.071 2247 3928 3524 0 0 0 0 0 0

5972 -0.73 -146.0 552.3 -8.8 532 5979 0.00 2.00 0.00 0.000 6 0.000 0.045 2247 2715 3524 0 0 0 0 0 0

6286 -0.73 -146.0 579.9 -8.8 543 6287 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2714 3524 0 0 0 0 0 0

6593 -0.73 -146.0 606.0 -8.5 553 6597 0.00 2.12 0.00 0.000 4 0.000 0.072 2247 3937 3524 0 0 0 0 0 0

6629 -0.77 -146.0 609.1 -9.1 554 6633 0.00 1.98 0.00 0.000 6 0.000 0.046 2247 2726 3524 0 0 0 0 0 0

6906 end dive: TARGET_DEPTH_EXCEEDED

state 6906 begin apogee

6914 -0.14 0.0 632.5 8.4 563 7046 0.55 0.00 124.95 0.993 4 0.130 0.000 2424 2606 2923 0 0 0 0 0 0

7047 end apogee: CONTROL_FINISHED_OK

state 7047 begin climb

7050 0.57 146.0 636.4 0.0 567 7192 0.68 2.42 132.68 0.964 4 0.070 0.048 2658 1182 2326 0 0 0 0 0 0

7361 0.57 146.0 611.9 10.6 576 7367 0.00 2.45 0.00 0.000 6 0.000 0.054 2659 2601 2318 0 0 0 0 0 0

7675 0.53 146.0 576.5 11.2 587 7679 0.00 2.30 0.00 0.000 4 0.000 0.051 2661 1188 2315 0 0 0 0 0 0

7877 0.53 146.0 554.6 10.5 593 7882 0.00 2.33 0.00 0.000 6 0.000 0.054 2661 2611 2315 0 0 0 0 0 0

8209 0.49 146.0 517.0 11.9 604 8210 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2611 2313 0 0 0 0 0 0

8514 0.45 146.0 480.5 12.0 614 8519 0.15 2.22 0.00 0.000 4 0.189 0.066 2623 3930 2313 0 0 0 0 0 0

8547 0.45 146.0 476.4 11.7 615 8551 0.00 2.17 0.00 0.000 6 0.000 0.043 2623 2591 2312 0 0 0 0 0 0

8884 0.48 158.8 444.8 9.4 626 8896 0.00 0.00 9.90 0.828 6 0.000 0.000 2622 2590 2274 0 0 0 0 0 0

9189 0.53 170.6 415.8 9.5 636 9203 0.00 0.00 12.00 0.829 6 0.000 0.000 2623 2590 2227 0 0 0 0 0 0

9502 0.59 202.8 387.7 8.5 654 9533 0.12 0.00 29.10 0.838 6 0.096 0.000 2680 2590 2096 0 0 0 0 0 0

9849 0.56 202.8 344.5 12.2 687 9853 0.00 2.28 0.00 0.000 4 0.000 0.067 2680 3934 2089 0 0 0 0 0 0

9880 0.49 202.8 340.4 14.5 689 9885 0.17 2.15 0.00 0.000 6 0.183 0.043 2634 2606 2087 0 0 0 0 0 0

10207 0.56 227.8 309.8 8.8 719 10234 0.00 2.30 21.85 0.790 4 0.000 0.049 2635 1184 1993 0 0 0 0 0 0

10264 0.68 248.2 304.7 9.1 723 10293 0.17 2.33 19.12 0.771 6 0.080 0.054 2709 2607 1909 0 0 0 0 0 0

10613 0.62 248.2 254.2 14.6 756 10617 0.12 2.30 0.00 0.000 4 0.185 0.051 2678 1184 1903 0 0 0 0 0 0

10657 0.67 248.2 248.3 11.5 759 10664 0.00 2.30 0.00 0.000 6 0.000 0.053 2678 2585 1903 0 0 0 0 0 0

10983 0.67 248.2 208.8 11.8 790 10987 0.00 2.25 0.00 0.000 4 0.000 0.065 2678 3926 1901 0 0 0 0 0 0

11016 0.64 248.2 204.1 13.6 792 11023 0.00 2.17 0.00 0.000 6 0.000 0.043 2679 2575 1900 0 0 0 0 0 0

11342 0.64 248.2 166.7 11.5 823 11343 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2575 1900 0 0 0 0 0 0

11663 0.64 248.2 126.9 12.6 853 11667 0.00 2.22 0.00 0.000 4 0.000 0.053 2679 1195 1900 0 0 0 0 0 0

11687 0.68 248.2 123.8 11.7 855 11691 0.00 2.30 0.00 0.000 6 0.000 0.054 2679 2587 1900 0 0 0 0 0 0

12021 0.71 248.2 85.9 10.8 896 12028 0.00 2.25 0.00 0.000 4 0.000 0.051 2679 1194 1900 0 0 0 0 0 0

12061 0.78 248.2 82.0 10.3 902 12068 0.12 2.28 0.00 0.000 6 0.103 0.054 2733 2570 1900 0 0 0 0 0 0

12411 0.73 248.2 35.5 13.1 963 12418 0.00 2.30 0.00 0.000 4 0.000 0.067 2733 3928 1899 0 0 0 0 0 0

12482 0.64 248.2 24.6 14.2 975 12490 0.20 2.17 0.00 0.000 6 0.184 0.044 2684 2582 1898 0 0 0 0 0 0

12671 end climb: SURFACE_DEPTH_REACHED

state 12671 begin surface coast

12705 end surface coast: CONTROL_FINISHED_OK

state 12705 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	844	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	24	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	-13516.591	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	270111,230336,6644.181,-5749.725,39,1.0,39,-37.4	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	1.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270111,230336,6644.181,-5749.725,181,99.0,181,-37.4	MHEAD_RNG_PITCHd_Wd	89.4,56583,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	632

FREEZE	0.65,-1.049,-1.745,3,3,0	ALTIM_TOP_PING	19.4,19.4
FINISH	0.7,1.025625	_24V_AH	21.2,95.239
SM_CCo	12723,210.32,0.086,0,0,440,609.08	_10V_AH	9.6,64.674
SM_GC	1.27,0.00,0.00,210.32,0.000,0.000,0.086,296,2781,440,-6.80,0.03,609.08	FG_AHR_24Vo	0.000
RAFOS_CLK	739	FG_AHR_10Vo	0.000
RAFOS	0,1296172867,0.033333,0.018611,47,44,42,42,41,39,877,535,1027,162,1908,1047	MEM	151648
RAFOS_FIX	6645.414062,-5749.919434,280111,000022,3,86,0.38	DATA_FILE_SIZE	36654,1015
IRIDIUM_FIX	6614.97,-5747.57,270111,151521	CAP_FILE_SIZE	140574,0
TT8_MAMPS	0.029211	CFSIZE	260165632,194486272
HUMID	46.96	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.4363	SOUNDSPEED	1454.7
TCM_TEMP	14.50	GPS	280111,025801,6643.458,-5746.208,60,1.1,60,-37.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	244	102.57	SBE_CT	706	24	359.26
Roll_motor	111	80	189.32	SBE_O2	0	0	0.00
VBD_pump_during_apogee	349	992	7359.42	nil	0	0	0.00
VBD_pump_during_surface	210	85	382.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	96	103	211.27	nil	0	0	0.00
Iridium_during_connect	29	160	100.22	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	17.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	88.11
TT8	2538	19	485.37
LPSleep	7791	2	172.78
TT8_Active	724	19	138.56
TT8_Sampling	2098	39	804.29
TT8_CF8	769	45	339.16
TT8_Kalman	0	0	0.00
Analog_circuits	1715	12	197.58
GPS_charging	0	0	0.00
Compass	1773	15	255.41
RAFOS	2520	3	72.58
Transponder	14	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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.57	-146.0	0.0	0.0	0	178	0.00	0.00	-154.45	0.000	6	0.000	0.000	269	2785	3520	0	0	0	0	0	0
181	-0.57	-146.0	6.6	-15.3	28	195	8.52	2.38	0.00	0.000	4	0.244	0.047	2282	1369	3522	0	0	0	0	0	0
208	0.37	-146.0	22.5	-46.6	32	216	1.10	2.38	0.00	0.000	6	0.158	0.060	2589	2776	3523	0	0	0	0	0	0
557	-0.14	-146.0	46.8	-6.2	93	564	0.47	2.00	0.00	0.000	4	0.120	0.069	2431	3933	3524	0	0	0	0	0	0
575	-0.57	-146.0	48.0	-6.7	95	582	0.40	2.33	0.00	0.000	6	0.074	0.047	2280	2513	3523	0	0	0	0	0	0
923	-0.59	-146.0	80.2	-10.2	156	930	0.00	2.45	0.00	0.000	4	0.000	0.071	2273	3928	3522	0	0	0	0	0	0
1068	-0.63	-146.0	95.1	-10.1	181	1075	0.00	2.22	0.00	0.000	6	0.000	0.046	2273	2565	3523	0	0	0	0	0	0
1404	-0.66	-146.0	128.8	-9.3	216	1408	0.00	2.40	0.00	0.000	4	0.000	0.071	2272	3933	3522	0	0	0	0	0	0
1518	-0.71	-146.0	139.1	-8.5	225	1525	0.00	2.22	0.00	0.000	6	0.000	0.047	2273	2586	3522	0	0	0	0	0	0
1845	-0.74	-146.0	166.7	-8.5	256	1849	0.10	2.38	0.00	0.000	4	0.116	0.072	2222	3927	3521	0	0	0	0	0	0
1978	-0.69	-146.0	182.1	-12.5	267	1982	0.00	2.15	0.00	0.000	6	0.000	0.046	2222	2622	3521	0	0	0	0	0	0
2304	-0.63	-146.0	222.2	-11.7	297	2309	0.17	2.30	0.00	0.000	4	0.164	0.070	2264	3928	3521	0	0	0	0	0	0
2350	-0.67	-146.0	226.7	-8.7	300	2357	0.00	2.12	0.00	0.000	6	0.000	0.046	2264	2639	3522	0	0	0	0	0	0
2677	-0.70	-146.0	253.2	-8.1	331	2681	0.00	2.25	0.00	0.000	4	0.000	0.072	2261	3934	3522	0	0	0	0	0	0
2734	-0.74	-146.0	258.1	-8.2	335	2741	0.00	2.12	0.00	0.000	6	0.000	0.046	2261	2642	3522	0	0	0	0	0	0
3060	-0.77	-146.0	286.0	-8.8	366	3065	0.10	2.28	0.00	0.000	4	0.118	0.071	2206	3936	3522	0	0	0	0	0	0
3112	-0.69	-146.0	292.2	-12.2	370	3119	0.17	2.10	0.00	0.000	6	0.162	0.045	2252	2658	3522	0	0	0	0	0	0
3439	-0.69	-146.0	322.6	-9.0	401	3443	0.00	2.20	0.00	0.000	4	0.000	0.070	2247	3929	3523	0	0	0	0	0	0
3495	-0.69	-146.0	328.3	-9.7	405	3501	0.00	2.08	0.00	0.000	6	0.000	0.046	2247	2667	3523	0	0	0	0	0	0
3822	-0.69	-146.0	358.6	-9.3	436	3826	0.00	2.20	0.00	0.000	4	0.000	0.071	2247	3928	3523	0	0	0	0	0	0
3913	-0.71	-146.0	367.1	-9.4	444	3916	0.00	2.00	0.00	0.000	6	0.000	0.046	2247	2701	3523	0	0	0	0	0	0
4244	-0.71	-146.0	397.1	-9.2	475	4249	0.00	2.15	0.00	0.000	4	0.000	0.070	2247	3938	3523	0	0	0	0	0	0
4272	-0.71	-146.0	399.8	-9.0	477	4280	0.00	2.00	0.00	0.000	6	0.000	0.045	2247	2709	3523	0	0	0	0	0	0
4586	-0.71	-146.0	427.4	-9.0	488	4590	0.00	2.12	0.00	0.000	4	0.000	0.071	2247	3934	3524	0	0	0	0	0	0
4621	-0.71	-146.0	430.7	-9.6	489	4624	0.00	2.00	0.00	0.000	6	0.000	0.046	2247	2709	3524	0	0	0	0	0	0
4957	-0.71	-146.0	461.1	-9.1	500	4961	0.00	2.12	0.00	0.000	4	0.000	0.071	2247	3935	3524	0	0	0	0	0	0
4986	-0.71	-146.0	463.8	-9.3	501	4990	0.00	2.00	0.00	0.000	6	0.000	0.046	2247	2716	3524	0	0	0	0	0	0
5332	-0.71	-146.0	494.9	-9.1	512	5334	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2716	3524	0	0	0	0	0	0
5634	-0.71	-146.0	522.6	-8.9	522	5635	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2716	3524	0	0	0	0	0	0
5942	-0.71	-146.0	549.3	-8.7	532	5949	0.00	2.10	0.00	0.000	4	0.000	0.071	2247	3928	3524	0	0	0	0	0	0
5972	-0.73	-146.0	552.3	-8.8	532	5979	0.00	2.00	0.00	0.000	6	0.000	0.045	2247	2715	3524	0	0	0	0	0	0
6286	-0.73	-146.0	579.9	-8.8	543	6287	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	2714	3524	0	0	0	0	0	0
6593	-0.73	-146.0	606.0	-8.5	553	6597	0.00	2.12	0.00	0.000	4	0.000	0.072	2247	3937	3524	0	0	0	0	0	0
6629	-0.77	-146.0	609.1	-9.1	554	6633	0.00	1.98	0.00	0.000	6	0.000	0.046	2247	2726	3524	0	0	0	0	0	0
6906	end dive: TARGET_DEPTH_EXCEEDED
state	6906	begin apogee
6914	-0.14	0.0	632.5	8.4	563	7046	0.55	0.00	124.95	0.993	4	0.130	0.000	2424	2606	2923	0	0	0	0	0	0
7047	end apogee: CONTROL_FINISHED_OK
state	7047	begin climb
7050	0.57	146.0	636.4	0.0	567	7192	0.68	2.42	132.68	0.964	4	0.070	0.048	2658	1182	2326	0	0	0	0	0	0
7361	0.57	146.0	611.9	10.6	576	7367	0.00	2.45	0.00	0.000	6	0.000	0.054	2659	2601	2318	0	0	0	0	0	0
7675	0.53	146.0	576.5	11.2	587	7679	0.00	2.30	0.00	0.000	4	0.000	0.051	2661	1188	2315	0	0	0	0	0	0
7877	0.53	146.0	554.6	10.5	593	7882	0.00	2.33	0.00	0.000	6	0.000	0.054	2661	2611	2315	0	0	0	0	0	0
8209	0.49	146.0	517.0	11.9	604	8210	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2611	2313	0	0	0	0	0	0
8514	0.45	146.0	480.5	12.0	614	8519	0.15	2.22	0.00	0.000	4	0.189	0.066	2623	3930	2313	0	0	0	0	0	0
8547	0.45	146.0	476.4	11.7	615	8551	0.00	2.17	0.00	0.000	6	0.000	0.043	2623	2591	2312	0	0	0	0	0	0
8884	0.48	158.8	444.8	9.4	626	8896	0.00	0.00	9.90	0.828	6	0.000	0.000	2622	2590	2274	0	0	0	0	0	0
9189	0.53	170.6	415.8	9.5	636	9203	0.00	0.00	12.00	0.829	6	0.000	0.000	2623	2590	2227	0	0	0	0	0	0
9502	0.59	202.8	387.7	8.5	654	9533	0.12	0.00	29.10	0.838	6	0.096	0.000	2680	2590	2096	0	0	0	0	0	0
9849	0.56	202.8	344.5	12.2	687	9853	0.00	2.28	0.00	0.000	4	0.000	0.067	2680	3934	2089	0	0	0	0	0	0
9880	0.49	202.8	340.4	14.5	689	9885	0.17	2.15	0.00	0.000	6	0.183	0.043	2634	2606	2087	0	0	0	0	0	0
10207	0.56	227.8	309.8	8.8	719	10234	0.00	2.30	21.85	0.790	4	0.000	0.049	2635	1184	1993	0	0	0	0	0	0
10264	0.68	248.2	304.7	9.1	723	10293	0.17	2.33	19.12	0.771	6	0.080	0.054	2709	2607	1909	0	0	0	0	0	0
10613	0.62	248.2	254.2	14.6	756	10617	0.12	2.30	0.00	0.000	4	0.185	0.051	2678	1184	1903	0	0	0	0	0	0
10657	0.67	248.2	248.3	11.5	759	10664	0.00	2.30	0.00	0.000	6	0.000	0.053	2678	2585	1903	0	0	0	0	0	0
10983	0.67	248.2	208.8	11.8	790	10987	0.00	2.25	0.00	0.000	4	0.000	0.065	2678	3926	1901	0	0	0	0	0	0
11016	0.64	248.2	204.1	13.6	792	11023	0.00	2.17	0.00	0.000	6	0.000	0.043	2679	2575	1900	0	0	0	0	0	0
11342	0.64	248.2	166.7	11.5	823	11343	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2575	1900	0	0	0	0	0	0
11663	0.64	248.2	126.9	12.6	853	11667	0.00	2.22	0.00	0.000	4	0.000	0.053	2679	1195	1900	0	0	0	0	0	0
11687	0.68	248.2	123.8	11.7	855	11691	0.00	2.30	0.00	0.000	6	0.000	0.054	2679	2587	1900	0	0	0	0	0	0
12021	0.71	248.2	85.9	10.8	896	12028	0.00	2.25	0.00	0.000	4	0.000	0.051	2679	1194	1900	0	0	0	0	0	0
12061	0.78	248.2	82.0	10.3	902	12068	0.12	2.28	0.00	0.000	6	0.103	0.054	2733	2570	1900	0	0	0	0	0	0
12411	0.73	248.2	35.5	13.1	963	12418	0.00	2.30	0.00	0.000	4	0.000	0.067	2733	3928	1899	0	0	0	0	0	0
12482	0.64	248.2	24.6	14.2	975	12490	0.20	2.17	0.00	0.000	6	0.184	0.044	2684	2582	1898	0	0	0	0	0	0
12671	end climb: SURFACE_DEPTH_REACHED
state	12671	begin surface coast
12705	end surface coast: CONTROL_FINISHED_OK
state	12705	begin surface