Glider dive log

DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 895 * 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 895 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 30 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 25 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 1 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 -13773.687 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 1 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 -13773.687

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 30 VBD_MAX 3960

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 25 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 895 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 020211,192621,6700.955,-5751.967,35,99.0,54,-37.8 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020211,193346,6700.798,-5751.921,34,99.0,53,-37.8 MHEAD_RNG_PITCHd_Wd 292.4,116933,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 898

Post-dive calculations and measurements:

FREEZE 0.59,-1.570,-0.480,3,1,0 ALTIM_TOP_PING 19.5,20.6

FINISH 0.6,1.006933 ALTIM_BOTTOM_PING 653.4,12.0

SM_CCo 12966,164.40,0.087,0,0,440,609.08 _24V_AH 21.2,100.128

SM_GC 1.38,0.00,0.00,164.40,0.000,0.000,0.087,300,2787,440,-6.79,0.20,609.08 _10V_AH 9.7,67.743

RAFOS_CLK 699 FG_AHR_24Vo 0.000

RAFOS 0,1296676867,20.033333,20.018612,44,42,42,42,40,39,398,864,1399,1827,1890,26 FG_AHR_10Vo 0.000

RAFOS_FIX 6704.098145,-5739.917480,020211,000022,3,104,1.06 MEM 151692

IRIDIUM_FIX 6636.54,-5742.73,020211,161648 DATA_FILE_SIZE 36721,1000

TT8_MAMPS 0.028462 CAP_FILE_SIZE 139614,0

HUMID 46.57 CFSIZE 260165632,191717376

INTERNAL_PRESSURE 8.4363 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.50 SOUNDSPEED 1453.9

XPDR_PINGS 0 GPS 020211,231524,6659.578,-5754.050,64,1.5,82,-37.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 243 94.25 SBE_CT 694 24 353.27

Roll_motor 103 81 179.00 SBE_O2 0 0 0.00

VBD_pump_during_apogee 438 1004 9336.46 nil 0 0 0.00

VBD_pump_during_surface 164 87 303.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 60.18 nil 0 0 0.00

Iridium_during_connect 26 160 88.71 nil 0 0 0.00

Iridium_during_xfer 183 223 867.74 nil 0 0 0.00

Transponder_ping 2 420 22.26 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 57 50 27.83

TT8 2433 19 470.20

LPSleep 7990 2 179.04

TT8_Active 740 19 143.00

TT8_Sampling 2023 39 783.48

TT8_CF8 394 45 175.77

TT8_Kalman 0 0 0.00

Analog_circuits 1719 12 200.18

GPS_charging 0 0 0.00

Compass 1735 15 252.58

RAFOS 2520 3 73.33

Transponder 19 30 5.66

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 0 168 0.00 0.00 -145.82 0.000 2 0.000 0.000 251 2785 3315 0 0 0 0 0 0

171 -0.57 -146.0 5.1 -11.3 26 191 8.57 1.95 -4.18 0.000 4 0.243 0.082 2278 3924 3521 0 0 0 0 0 0

402 -0.57 -146.0 45.3 -13.4 66 409 0.00 1.90 0.00 0.000 6 0.000 0.049 2278 2777 3523 0 0 0 0 0 0

748 -0.57 -146.0 84.9 -10.7 127 755 0.00 2.03 0.00 0.000 4 0.000 0.074 2273 3924 3523 0 0 0 0 0 0

821 -0.60 -146.0 92.8 -9.7 139 828 0.00 1.85 0.00 0.000 6 0.000 0.050 2272 2798 3523 0 0 0 0 0 0

1153 -0.60 -146.0 128.4 -10.4 176 1157 0.00 2.33 0.00 0.000 4 0.000 0.051 2273 1366 3522 0 0 0 0 0 0

1209 -0.64 -146.0 134.5 -10.1 180 1216 0.00 2.42 0.00 0.000 6 0.000 0.063 2272 2791 3522 0 0 0 0 0 0

1537 -0.67 -146.0 166.2 -9.2 211 1541 0.00 2.33 0.00 0.000 4 0.000 0.050 2273 1366 3522 0 0 0 0 0 0

1604 -0.72 -146.0 172.9 -9.5 216 1613 0.00 2.40 0.00 0.000 6 0.000 0.062 2273 2778 3522 0 0 0 0 0 0

1932 -0.75 -146.0 202.8 -9.0 247 1937 0.12 2.35 0.00 0.000 4 0.101 0.050 2217 1363 3522 0 0 0 0 0 0

1954 -0.73 -146.0 205.6 -10.5 248 1961 0.00 2.38 0.00 0.000 6 0.000 0.060 2209 2767 3522 0 0 0 0 0 0

2282 -0.64 -146.0 248.9 -14.0 279 2286 0.20 2.33 0.00 0.000 4 0.170 0.047 2265 1360 3522 0 0 0 0 0 0

2315 -0.67 -146.0 253.1 -10.8 281 2322 0.00 2.38 0.00 0.000 6 0.000 0.060 2261 2763 3522 0 0 0 0 0 0

2642 -0.69 -146.0 282.1 -8.5 312 2646 0.00 2.28 0.00 0.000 4 0.000 0.049 2261 1370 3522 0 0 0 0 0 0

2670 -0.72 -146.0 285.0 -9.0 314 2677 0.00 2.38 0.00 0.000 6 0.000 0.061 2261 2758 3522 0 0 0 0 0 0

2997 -0.75 -146.0 313.1 -8.6 345 3000 0.00 2.03 0.00 0.000 4 0.000 0.072 2257 3929 3522 0 0 0 0 0 0

3033 -0.77 -146.0 316.4 -9.5 348 3036 0.00 1.92 0.00 0.000 6 0.000 0.047 2257 2753 3522 0 0 0 0 0 0

3364 -0.77 -146.0 345.6 -8.7 379 3366 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2752 3523 0 0 0 0 0 0

3684 -0.79 -146.0 372.3 -8.1 409 3688 0.10 2.25 0.00 0.000 4 0.115 0.048 2208 1369 3523 0 0 0 0 0 0

3718 -0.74 -146.0 375.9 -11.5 411 3726 0.12 2.38 0.00 0.000 6 0.176 0.060 2232 2758 3523 0 0 0 0 0 0

4062 -0.74 -146.0 409.0 -9.4 438 4063 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2758 3523 0 0 0 0 0 0

4369 -0.74 -146.0 437.2 -9.3 448 4370 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2758 3523 0 0 0 0 0 0

4674 -0.74 -146.0 467.4 -10.1 458 4675 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2758 3524 0 0 0 0 0 0

4981 -0.74 -146.0 496.8 -9.4 468 4982 0.00 0.00 0.00 0.000 6 0.000 0.000 2232 2758 3524 0 0 0 0 0 0

5288 -0.74 -146.0 526.2 -9.8 478 5292 0.00 2.03 0.00 0.000 4 0.000 0.071 2229 3931 3525 0 0 0 0 0 0

5323 -0.71 -146.0 529.9 -10.5 479 5327 0.00 1.98 0.00 0.000 6 0.000 0.046 2229 2735 3524 0 0 0 0 0 0

5667 -0.69 -146.0 564.5 -9.9 490 5671 0.00 2.20 0.00 0.000 4 0.000 0.048 2228 1369 3525 0 0 0 0 0 0

5696 -0.69 -146.0 567.6 -10.6 491 5701 0.12 2.33 0.00 0.000 6 0.169 0.060 2253 2744 3525 0 0 0 0 0 0

6032 -0.72 -146.0 594.6 -7.9 502 6033 0.00 0.00 0.00 0.000 6 0.000 0.000 2253 2744 3525 0 0 0 0 0 0

6340 -0.75 -146.0 618.8 -7.9 512 6341 0.00 0.00 0.00 0.000 6 0.000 0.000 2253 2744 3526 0 0 0 0 0 0

6644 -0.79 -146.0 643.2 -8.1 522 6648 0.00 2.05 0.00 0.000 4 0.000 0.071 2247 3927 3525 0 0 0 0 0 0

6673 -0.82 -146.0 645.9 -8.9 522 6680 0.10 1.95 0.00 0.000 6 0.112 0.046 2197 2734 3525 0 0 0 0 0 0

6741 end dive: BOTTOM_OBSTACLE_DETECTED

state 6741 begin apogee

6750 -0.14 0.0 653.4 11.0 525 6884 0.73 0.00 125.43 1.004 4 0.142 0.000 2420 2602 2923 0 0 0 0 0 0

6885 end apogee: CONTROL_FINISHED_OK

state 6885 begin climb

6889 0.57 146.0 659.0 0.0 529 7035 0.70 2.42 133.55 0.976 4 0.067 0.048 2663 1187 2326 0 0 0 0 0 0

7180 0.57 146.0 636.6 10.8 538 7185 0.00 2.50 0.00 0.000 6 0.000 0.054 2663 2604 2319 0 0 0 0 0 0

7505 0.52 146.0 598.7 11.8 549 7509 0.00 2.33 0.00 0.000 4 0.000 0.050 2666 1181 2315 0 0 0 0 0 0

7725 0.52 146.0 573.3 11.9 555 7730 0.00 2.38 0.00 0.000 6 0.000 0.055 2666 2614 2315 0 0 0 0 0 0

8039 0.47 146.0 535.2 12.3 565 8044 0.15 2.22 0.00 0.000 4 0.187 0.067 2626 3925 2313 0 0 0 0 0 0

8109 0.44 146.0 526.8 11.9 567 8113 0.00 2.15 0.00 0.000 6 0.000 0.044 2626 2602 2312 0 0 0 0 0 0

8445 0.47 149.8 493.3 9.8 578 8449 0.00 2.25 0.00 0.000 4 0.000 0.067 2626 3924 2313 0 0 0 0 0 0

8485 0.44 149.8 488.7 11.7 579 8489 0.00 2.10 0.00 0.000 6 0.000 0.044 2626 2631 2312 0 0 0 0 0 0

8811 0.48 163.6 457.6 9.4 590 8827 0.00 0.00 14.02 0.859 6 0.000 0.000 2626 2630 2256 0 0 0 0 0 0

9116 0.52 182.7 429.0 9.1 600 9136 0.00 0.00 18.05 0.850 6 0.000 0.000 2626 2630 2178 0 0 0 0 0 0

9423 0.58 193.6 399.9 9.5 610 9442 0.10 0.00 10.82 0.806 6 0.110 0.000 2676 2630 2132 0 0 0 0 0 0

9760 0.55 193.6 359.1 12.7 642 9765 0.00 2.30 0.00 0.000 4 0.000 0.052 2679 1194 2129 0 0 0 0 0 0

9791 0.55 193.6 355.5 12.3 644 9795 0.00 2.35 0.00 0.000 6 0.000 0.054 2679 2631 2129 0 0 0 0 0 0

10117 0.52 193.6 316.0 11.9 674 10122 0.12 2.25 0.00 0.000 4 0.190 0.067 2646 3936 2128 0 0 0 0 0 0

10181 0.52 193.6 308.5 11.6 679 10185 0.00 2.10 0.00 0.000 6 0.000 0.043 2646 2642 2127 0 0 0 0 0 0

10513 0.55 199.8 275.4 9.7 710 10526 0.00 2.35 6.45 0.698 4 0.000 0.050 2646 1182 2107 0 0 0 0 0 0

10575 0.63 214.5 269.7 9.3 715 10599 0.00 2.40 14.12 0.754 6 0.000 0.054 2646 2638 2047 0 0 0 0 0 0

10919 0.67 214.5 234.5 10.7 747 10924 0.12 2.20 0.00 0.000 4 0.100 0.066 2700 3926 2045 0 0 0 0 0 0

10963 0.58 214.5 227.3 16.4 750 10971 0.15 2.10 0.00 0.000 6 0.183 0.044 2667 2634 2043 0 0 0 0 0 0

11290 0.58 214.5 187.1 11.9 781 11295 0.00 2.33 0.00 0.000 4 0.000 0.051 2667 1186 2043 0 0 0 0 0 0

11335 0.64 214.5 181.7 10.7 784 11342 0.00 2.38 0.00 0.000 6 0.000 0.054 2667 2633 2043 0 0 0 0 0 0

11663 0.66 214.5 144.9 11.2 815 11664 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2633 2043 0 0 0 0 0 0

11984 0.68 214.5 110.9 10.4 845 11988 0.00 2.35 0.00 0.000 4 0.000 0.051 2667 1184 2043 0 0 0 0 0 0

12052 0.77 227.8 103.8 9.4 850 12071 0.15 2.38 12.35 0.674 6 0.092 0.054 2728 2625 1993 0 0 0 0 0 0

12410 0.69 227.8 58.5 11.9 910 12416 0.00 0.00 0.00 0.000 6 0.000 0.000 2728 2625 1990 0 0 0 0 0 0

12757 0.66 270.2 20.2 8.0 971 12800 0.15 2.30 36.50 0.630 4 0.191 0.068 2690 3928 1820 0 0 0 0 0 0

12848 0.75 350.0 10.4 6.3 986 12930 0.00 2.15 67.15 0.609 6 0.000 0.047 2692 2620 1494 0 0 0 0 0 0

12935 end climb: SURFACE_DEPTH_REACHED

state 12935 begin surface coast

12948 end surface coast: FINISH_DEPTH_REACHED

state 12948 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	895	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	30	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	25	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	1	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	-13773.687	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	020211,192621,6700.955,-5751.967,35,99.0,54,-37.8	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020211,193346,6700.798,-5751.921,34,99.0,53,-37.8	MHEAD_RNG_PITCHd_Wd	292.4,116933,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	898

FREEZE	0.59,-1.570,-0.480,3,1,0	ALTIM_TOP_PING	19.5,20.6
FINISH	0.6,1.006933	ALTIM_BOTTOM_PING	653.4,12.0
SM_CCo	12966,164.40,0.087,0,0,440,609.08	_24V_AH	21.2,100.128
SM_GC	1.38,0.00,0.00,164.40,0.000,0.000,0.087,300,2787,440,-6.79,0.20,609.08	_10V_AH	9.7,67.743
RAFOS_CLK	699	FG_AHR_24Vo	0.000
RAFOS	0,1296676867,20.033333,20.018612,44,42,42,42,40,39,398,864,1399,1827,1890,26	FG_AHR_10Vo	0.000
RAFOS_FIX	6704.098145,-5739.917480,020211,000022,3,104,1.06	MEM	151692
IRIDIUM_FIX	6636.54,-5742.73,020211,161648	DATA_FILE_SIZE	36721,1000
TT8_MAMPS	0.028462	CAP_FILE_SIZE	139614,0
HUMID	46.57	CFSIZE	260165632,191717376
INTERNAL_PRESSURE	8.4363	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.50	SOUNDSPEED	1453.9
XPDR_PINGS	0	GPS	020211,231524,6659.578,-5754.050,64,1.5,82,-37.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	243	94.25	SBE_CT	694	24	353.27
Roll_motor	103	81	179.00	SBE_O2	0	0	0.00
VBD_pump_during_apogee	438	1004	9336.46	nil	0	0	0.00
VBD_pump_during_surface	164	87	303.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	60.18	nil	0	0	0.00
Iridium_during_connect	26	160	88.71	nil	0	0	0.00
Iridium_during_xfer	183	223	867.74	nil	0	0	0.00
Transponder_ping	2	420	22.26	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	57	50	27.83
TT8	2433	19	470.20
LPSleep	7990	2	179.04
TT8_Active	740	19	143.00
TT8_Sampling	2023	39	783.48
TT8_CF8	394	45	175.77
TT8_Kalman	0	0	0.00
Analog_circuits	1719	12	200.18
GPS_charging	0	0	0.00
Compass	1735	15	252.58
RAFOS	2520	3	73.33
Transponder	19	30	5.66

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	168	0.00	0.00	-145.82	0.000	2	0.000	0.000	251	2785	3315	0	0	0	0	0	0
171	-0.57	-146.0	5.1	-11.3	26	191	8.57	1.95	-4.18	0.000	4	0.243	0.082	2278	3924	3521	0	0	0	0	0	0
402	-0.57	-146.0	45.3	-13.4	66	409	0.00	1.90	0.00	0.000	6	0.000	0.049	2278	2777	3523	0	0	0	0	0	0
748	-0.57	-146.0	84.9	-10.7	127	755	0.00	2.03	0.00	0.000	4	0.000	0.074	2273	3924	3523	0	0	0	0	0	0
821	-0.60	-146.0	92.8	-9.7	139	828	0.00	1.85	0.00	0.000	6	0.000	0.050	2272	2798	3523	0	0	0	0	0	0
1153	-0.60	-146.0	128.4	-10.4	176	1157	0.00	2.33	0.00	0.000	4	0.000	0.051	2273	1366	3522	0	0	0	0	0	0
1209	-0.64	-146.0	134.5	-10.1	180	1216	0.00	2.42	0.00	0.000	6	0.000	0.063	2272	2791	3522	0	0	0	0	0	0
1537	-0.67	-146.0	166.2	-9.2	211	1541	0.00	2.33	0.00	0.000	4	0.000	0.050	2273	1366	3522	0	0	0	0	0	0
1604	-0.72	-146.0	172.9	-9.5	216	1613	0.00	2.40	0.00	0.000	6	0.000	0.062	2273	2778	3522	0	0	0	0	0	0
1932	-0.75	-146.0	202.8	-9.0	247	1937	0.12	2.35	0.00	0.000	4	0.101	0.050	2217	1363	3522	0	0	0	0	0	0
1954	-0.73	-146.0	205.6	-10.5	248	1961	0.00	2.38	0.00	0.000	6	0.000	0.060	2209	2767	3522	0	0	0	0	0	0
2282	-0.64	-146.0	248.9	-14.0	279	2286	0.20	2.33	0.00	0.000	4	0.170	0.047	2265	1360	3522	0	0	0	0	0	0
2315	-0.67	-146.0	253.1	-10.8	281	2322	0.00	2.38	0.00	0.000	6	0.000	0.060	2261	2763	3522	0	0	0	0	0	0
2642	-0.69	-146.0	282.1	-8.5	312	2646	0.00	2.28	0.00	0.000	4	0.000	0.049	2261	1370	3522	0	0	0	0	0	0
2670	-0.72	-146.0	285.0	-9.0	314	2677	0.00	2.38	0.00	0.000	6	0.000	0.061	2261	2758	3522	0	0	0	0	0	0
2997	-0.75	-146.0	313.1	-8.6	345	3000	0.00	2.03	0.00	0.000	4	0.000	0.072	2257	3929	3522	0	0	0	0	0	0
3033	-0.77	-146.0	316.4	-9.5	348	3036	0.00	1.92	0.00	0.000	6	0.000	0.047	2257	2753	3522	0	0	0	0	0	0
3364	-0.77	-146.0	345.6	-8.7	379	3366	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2752	3523	0	0	0	0	0	0
3684	-0.79	-146.0	372.3	-8.1	409	3688	0.10	2.25	0.00	0.000	4	0.115	0.048	2208	1369	3523	0	0	0	0	0	0
3718	-0.74	-146.0	375.9	-11.5	411	3726	0.12	2.38	0.00	0.000	6	0.176	0.060	2232	2758	3523	0	0	0	0	0	0
4062	-0.74	-146.0	409.0	-9.4	438	4063	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2758	3523	0	0	0	0	0	0
4369	-0.74	-146.0	437.2	-9.3	448	4370	0.00	0.00	0.00	0.000	6	0.000	0.000	2233	2758	3523	0	0	0	0	0	0
4674	-0.74	-146.0	467.4	-10.1	458	4675	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2758	3524	0	0	0	0	0	0
4981	-0.74	-146.0	496.8	-9.4	468	4982	0.00	0.00	0.00	0.000	6	0.000	0.000	2232	2758	3524	0	0	0	0	0	0
5288	-0.74	-146.0	526.2	-9.8	478	5292	0.00	2.03	0.00	0.000	4	0.000	0.071	2229	3931	3525	0	0	0	0	0	0
5323	-0.71	-146.0	529.9	-10.5	479	5327	0.00	1.98	0.00	0.000	6	0.000	0.046	2229	2735	3524	0	0	0	0	0	0
5667	-0.69	-146.0	564.5	-9.9	490	5671	0.00	2.20	0.00	0.000	4	0.000	0.048	2228	1369	3525	0	0	0	0	0	0
5696	-0.69	-146.0	567.6	-10.6	491	5701	0.12	2.33	0.00	0.000	6	0.169	0.060	2253	2744	3525	0	0	0	0	0	0
6032	-0.72	-146.0	594.6	-7.9	502	6033	0.00	0.00	0.00	0.000	6	0.000	0.000	2253	2744	3525	0	0	0	0	0	0
6340	-0.75	-146.0	618.8	-7.9	512	6341	0.00	0.00	0.00	0.000	6	0.000	0.000	2253	2744	3526	0	0	0	0	0	0
6644	-0.79	-146.0	643.2	-8.1	522	6648	0.00	2.05	0.00	0.000	4	0.000	0.071	2247	3927	3525	0	0	0	0	0	0
6673	-0.82	-146.0	645.9	-8.9	522	6680	0.10	1.95	0.00	0.000	6	0.112	0.046	2197	2734	3525	0	0	0	0	0	0
6741	end dive: BOTTOM_OBSTACLE_DETECTED
state	6741	begin apogee
6750	-0.14	0.0	653.4	11.0	525	6884	0.73	0.00	125.43	1.004	4	0.142	0.000	2420	2602	2923	0	0	0	0	0	0
6885	end apogee: CONTROL_FINISHED_OK
state	6885	begin climb
6889	0.57	146.0	659.0	0.0	529	7035	0.70	2.42	133.55	0.976	4	0.067	0.048	2663	1187	2326	0	0	0	0	0	0
7180	0.57	146.0	636.6	10.8	538	7185	0.00	2.50	0.00	0.000	6	0.000	0.054	2663	2604	2319	0	0	0	0	0	0
7505	0.52	146.0	598.7	11.8	549	7509	0.00	2.33	0.00	0.000	4	0.000	0.050	2666	1181	2315	0	0	0	0	0	0
7725	0.52	146.0	573.3	11.9	555	7730	0.00	2.38	0.00	0.000	6	0.000	0.055	2666	2614	2315	0	0	0	0	0	0
8039	0.47	146.0	535.2	12.3	565	8044	0.15	2.22	0.00	0.000	4	0.187	0.067	2626	3925	2313	0	0	0	0	0	0
8109	0.44	146.0	526.8	11.9	567	8113	0.00	2.15	0.00	0.000	6	0.000	0.044	2626	2602	2312	0	0	0	0	0	0
8445	0.47	149.8	493.3	9.8	578	8449	0.00	2.25	0.00	0.000	4	0.000	0.067	2626	3924	2313	0	0	0	0	0	0
8485	0.44	149.8	488.7	11.7	579	8489	0.00	2.10	0.00	0.000	6	0.000	0.044	2626	2631	2312	0	0	0	0	0	0
8811	0.48	163.6	457.6	9.4	590	8827	0.00	0.00	14.02	0.859	6	0.000	0.000	2626	2630	2256	0	0	0	0	0	0
9116	0.52	182.7	429.0	9.1	600	9136	0.00	0.00	18.05	0.850	6	0.000	0.000	2626	2630	2178	0	0	0	0	0	0
9423	0.58	193.6	399.9	9.5	610	9442	0.10	0.00	10.82	0.806	6	0.110	0.000	2676	2630	2132	0	0	0	0	0	0
9760	0.55	193.6	359.1	12.7	642	9765	0.00	2.30	0.00	0.000	4	0.000	0.052	2679	1194	2129	0	0	0	0	0	0
9791	0.55	193.6	355.5	12.3	644	9795	0.00	2.35	0.00	0.000	6	0.000	0.054	2679	2631	2129	0	0	0	0	0	0
10117	0.52	193.6	316.0	11.9	674	10122	0.12	2.25	0.00	0.000	4	0.190	0.067	2646	3936	2128	0	0	0	0	0	0
10181	0.52	193.6	308.5	11.6	679	10185	0.00	2.10	0.00	0.000	6	0.000	0.043	2646	2642	2127	0	0	0	0	0	0
10513	0.55	199.8	275.4	9.7	710	10526	0.00	2.35	6.45	0.698	4	0.000	0.050	2646	1182	2107	0	0	0	0	0	0
10575	0.63	214.5	269.7	9.3	715	10599	0.00	2.40	14.12	0.754	6	0.000	0.054	2646	2638	2047	0	0	0	0	0	0
10919	0.67	214.5	234.5	10.7	747	10924	0.12	2.20	0.00	0.000	4	0.100	0.066	2700	3926	2045	0	0	0	0	0	0
10963	0.58	214.5	227.3	16.4	750	10971	0.15	2.10	0.00	0.000	6	0.183	0.044	2667	2634	2043	0	0	0	0	0	0
11290	0.58	214.5	187.1	11.9	781	11295	0.00	2.33	0.00	0.000	4	0.000	0.051	2667	1186	2043	0	0	0	0	0	0
11335	0.64	214.5	181.7	10.7	784	11342	0.00	2.38	0.00	0.000	6	0.000	0.054	2667	2633	2043	0	0	0	0	0	0
11663	0.66	214.5	144.9	11.2	815	11664	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2633	2043	0	0	0	0	0	0
11984	0.68	214.5	110.9	10.4	845	11988	0.00	2.35	0.00	0.000	4	0.000	0.051	2667	1184	2043	0	0	0	0	0	0
12052	0.77	227.8	103.8	9.4	850	12071	0.15	2.38	12.35	0.674	6	0.092	0.054	2728	2625	1993	0	0	0	0	0	0
12410	0.69	227.8	58.5	11.9	910	12416	0.00	0.00	0.00	0.000	6	0.000	0.000	2728	2625	1990	0	0	0	0	0	0
12757	0.66	270.2	20.2	8.0	971	12800	0.15	2.30	36.50	0.630	4	0.191	0.068	2690	3928	1820	0	0	0	0	0	0
12848	0.75	350.0	10.4	6.3	986	12930	0.00	2.15	67.15	0.609	6	0.000	0.047	2692	2620	1494	0	0	0	0	0	0
12935	end climb: SURFACE_DEPTH_REACHED
state	12935	begin surface coast
12948	end surface coast: FINISH_DEPTH_REACHED
state	12948	begin surface