Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 126 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_C 6.0000002e-06 ROLL_MAX 3841 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 4 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 5

DIVE 126 ESCAPE_HEADING 120 C_ROLL_DIVE 2550 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1030 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 22 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 601.23029 R_STBD_OVSHOOT 13 XPDR_VALID 4

D_BOOST 100 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 5 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.93000001

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 9 VBD_MIN 500 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 DEVICE1 -1

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2951 DEVICE2 -1

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE4 -1

T_DIVE 330 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 400 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 3 UNCOM_BLEED 20 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 97

USE_BATHY -3 T_RSLEEP 2 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 2 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 300 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE 32

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 350 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 225 AH0_10V 0 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3900 MINV_24V 12 SIM_PITCH 0

MAX_BUOY 150 C_PITCH 2550 MINV_10V 12 SEABIRD_T_G 0.0042903274

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00062837056

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 FG_AHR_24V 0 SEABIRD_T_I 2.3004332e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_T_J 2.3253908e-06

RHO 1.0275 P_OVSHOOT_WITHG 0 PRESSURE_YINT -50.214073 SEABIRD_C_G -9.879467

MASS 52059 PITCH_GAIN 13 PRESSURE_SLOPE 0.0001163556 SEABIRD_C_H 1.1201456

MASS_COMP 0 PITCH_TIMEOUT 15 AD7714Ch0Gain 128 SEABIRD_C_I -0.00035123606

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00012622437

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4 SC_PROFILE 3.0

HD_A 0.0043000001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 300 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SEABIRD_T_J 2.3253908e-06

AH0_10V 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 SIM_PITCH 0

AH0_24V 350 D_SURF 3 PITCH_AD_RATE 175 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_CNV 0.0046000001 SM_CC 601.23029

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 13 STROBE 0

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_MAX 3900 SURFACE_URGENCY 10

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PULSE 5 FG_AHR_24V 0 PITCH_MIN 225 SURFACE_URGENCY_TRY 5

ALTIM_SENSITIVITY 1 FILEMGR 2 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2.8 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 6000

APOGEE_PITCH -5 HD_A 0.0043000001 PRESSURE_SLOPE 0.0001163556 TGT_DEFAULT_LON -5500

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -50.214073 T_ABORT 1440

CALL_TRIES 3 HD_C 6.0000002e-06 PROTOCOL 9 T_BOOST 5

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 330

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0 T_EPIRB 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_GPS 3

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.1 RAFOS_DEVICE 32 T_GPS_ALMANAC 0

COMM_SEQ 0 ID 193 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_MISSION 400

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0.93000001 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RHO 1.0275 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2550 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 ROLL_AD_RATE 300 T_WATCHDOG 10

C_ROLL_DIVE 2550 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2951 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX 3

DBDW 0 MASS 52059 ROLL_MAX 3841 USE_BATHY -3

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 2

DEVICE1 -1 MAX_BUOY 150 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_PORT_OVSHOOT 22 VBD_DBAND 2

DEVICE4 -1 MISSION 4 R_STBD_OVSHOOT 13 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 126 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1030 N_DIVES 0 SEABIRD_C_G -9.879467 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_FILEKB 4 SEABIRD_C_H 1.1201456 VBD_TIMEOUT 720

D_CALL 3 N_GPS 20 SEABIRD_C_I -0.00035123606 W_ADJ_DBAND 0

D_FINISH 9 N_NOCOMM 6 SEABIRD_C_J 0.00012622437 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_G 0.0042903274 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 48 SEABIRD_T_H 0.00062837056 XPDR_VALID 4

D_OFFGRID 300 PHONE_SUPPLY -2 SEABIRD_T_I 2.3004332e-05

Pre-dive calculations and measurements:

GPS1 301214,170135,6644.518,-5649.546,32,1.5,33,-32.2 SPEED_LIMITS 0.173,0.262

_CALLS 1 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 1.76 MHEAD_RNG_PITCHd_Wd 349.1,34404,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -50.1 D_GRID 580

GPS2 301214,171013,6644.434,-5649.564,5,1.5,5,-32.2

Post-dive calculations and measurements:

FREEZE 1.39,-0.099,-0.433,0,1,0 SC_FREEKB 7729600

FINISH 1.4,1.006296 _24V_AH 13.47,28.564

SM_CCo 11438,225.80,0.161,0,0,497,601.23 _10V_AH 13.66,0.000

SM_GC 1.85,7.68,0.30,225.80,0.076,0.159,0.161,208,2552,497,-10.66,-0.42,601.23,0,0,0,0,0,0,14.76,14.70,14.51 FG_AHR_24Vo 0.000

RAFOS_CLK 491 FG_AHR_10Vo 0.000

RAFOS 0,1419969671,20.033333,20.019722,65,55,55,55,51,49,188,151,209,218,168,120 MEM 271068

RAFOS_FIX 6640.624023,-5720.196777,301214,121200,2,91,2.07 DATA_FILE_SIZE 23403,681

IRIDIUM_FIX 6614.97,-5659.48,301214,100239 CAP_FILE_SIZE 120534,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260034560,243879936

HUMID 42.51 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.39122 INTR 0,13461.93,0x23769e,7,5

TCM_TEMP 13.60 SOUNDSPEED 1467.1

XPDR_PINGS 17 CURRENT 0.046,226.36,1

ALTIM_TOP_PING 19.2,17.5 GPS 301214,202634,6645.387,-5652.947,37,1.2,37,-32.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 462 131.08 nil 0 0 0.00

Roll_motor 60 164 133.04 nil 0 0 0.00

VBD_pump_during_apogee 359 1379 6680.58 nil 0 0 0.00

VBD_pump_during_surface 225 161 490.95 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 SciCon 11435 6 1056.95

Iridium_during_xfer 364 166 818.59 nil 0 0 0.00

Transponder_ping 4 420 25.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.81

TT8 1548 11 242.60

LPSleep 8283 2 261.39

TT8_Active 756 11 118.46

TT8_Sampling 1446 30 611.25

TT8_CF8 161 36 79.72

TT8_Kalman 0 0 0.00

Analog_circuits 1700 11 255.50

GPS_charging 0 0 0.00

Compass 1015 6 83.23

RAFOS 1080 1 22.13

Transponder 2 30 1.08

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.60 -146.0 186 2559 512 475 0.0 0.0 0 172 0.00 0.00 -151.27 0.000 16386 0.000 0.000 181 2559 3295 3270 3321 0 0 0 0 0 0 28.83 28.83 28.83

175 -1.60 -146.0 181 2559 3272 3322 3.5 -2.7 15 199 10.15 2.53 -7.53 0.000 18692 0.463 0.164 2187 3843 3549 3544 3554 0 0 0 0 0 0 14.31 14.44 14.67

425 -1.55 -146.0 2187 3843 3550 3554 39.8 -14.6 64 431 0.10 2.22 0.00 0.000 3078 0.323 0.062 2206 2539 3552 3550 3554 0 0 0 0 0 0 14.45 14.58 28.83

744 -1.55 -146.0 2206 2539 3551 3554 80.1 -11.8 82 749 0.00 2.47 0.00 0.000 260 0.000 0.146 2197 3840 3552 3551 3554 0 0 0 0 0 0 28.83 14.57 28.83

816 -1.53 -146.0 2198 3840 3551 3554 89.3 -13.0 96 821 0.00 2.20 0.00 0.000 1030 0.000 0.061 2198 2544 3552 3551 3554 0 0 0 0 0 0 28.83 14.65 28.83

1128 -1.53 -146.0 2198 2544 3551 3554 125.8 -11.2 113 1129 0.00 0.00 0.00 0.000 6 0.000 0.000 2198 2544 3552 3551 3553 0 0 0 0 0 0 28.83 28.83 28.83

1429 -1.53 -146.0 2198 2543 3550 3552 158.8 -10.7 128 1430 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2544 3551 3551 3552 0 0 0 0 0 0 28.83 28.83 28.83

1729 -1.53 -146.0 2198 2543 3551 3551 191.1 -10.3 143 1730 0.00 0.00 0.00 0.000 6 0.000 0.000 2198 2544 3551 3551 3551 0 0 0 0 0 0 28.83 28.83 28.83

2030 -1.53 -146.0 2198 2543 3551 3552 221.8 -10.0 158 2031 0.00 0.00 0.00 0.000 6 0.000 0.000 2198 2543 3551 3551 3551 0 0 0 0 0 0 28.83 28.83 28.83

2330 -1.53 -146.0 2198 2543 3551 3552 250.4 -9.2 173 2336 0.10 2.40 0.00 0.000 2564 0.322 0.099 2218 1150 3551 3551 3551 0 0 0 0 0 0 14.65 14.73 28.83

2373 -1.55 -146.0 2218 1150 3551 3552 254.5 -9.0 181 2380 0.00 2.47 0.00 0.000 1030 0.000 0.116 2210 2551 3551 3551 3551 0 0 0 0 0 0 28.83 14.72 28.83

2699 -1.57 -146.0 2211 2551 3551 3551 282.4 -8.2 195 2700 0.00 0.00 0.00 0.000 6 0.000 0.000 2211 2551 3551 3551 3551 0 0 0 0 0 0 28.83 28.83 28.83

2998 -1.60 -146.0 2211 2551 3552 3552 306.2 -7.8 205 3004 0.00 2.42 0.00 0.000 516 0.000 0.102 2211 1140 3551 3552 3551 0 0 0 0 0 0 28.83 14.76 28.83

3087 -1.62 -146.0 2211 1138 3551 3552 313.8 -8.5 222 3094 0.00 2.50 0.00 0.000 1030 0.000 0.118 2203 2552 3552 3552 3552 0 0 0 0 0 0 28.83 14.74 28.83

3393 -1.62 -146.0 2203 2552 3552 3552 340.9 -8.9 233 3394 0.00 0.00 0.00 0.000 6 0.000 0.000 2203 2552 3551 3552 3551 0 0 0 0 0 0 28.83 28.83 28.83

3692 -1.62 -146.0 2202 2552 3555 3552 366.9 -8.5 243 3693 0.00 0.00 0.00 0.000 6 0.000 0.000 2202 2552 3553 3555 3551 0 0 0 0 0 0 28.83 28.83 28.83

3992 -1.62 -146.0 2203 2552 3556 3553 391.9 -8.0 253 3998 0.00 2.42 0.00 0.000 516 0.000 0.105 2203 1147 3554 3556 3553 0 0 0 0 0 0 28.83 14.77 28.83

4045 -1.62 -146.0 2202 1146 3556 3553 396.0 -7.2 263 4050 0.00 2.50 0.00 0.000 1030 0.000 0.119 2196 2553 3554 3556 3553 0 0 0 0 0 0 28.83 14.76 28.83

4358 -1.62 -146.0 2196 2553 3557 3554 419.1 -7.5 275 4360 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2553 3555 3557 3553 0 0 0 0 0 0 28.83 28.83 28.83

4658 -1.62 -146.0 2196 2553 3557 3555 440.8 -7.2 285 4659 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2553 3555 3557 3554 0 0 0 0 0 0 28.83 28.83 28.83

4958 -1.62 -146.0 2196 2553 3558 3554 463.1 -7.4 295 4959 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2553 3555 3557 3554 0 0 0 0 0 0 28.83 28.83 28.83

5258 -1.62 -146.0 2196 2553 3558 3554 486.2 -7.6 305 5264 0.00 2.47 0.00 0.000 516 0.000 0.111 2196 1143 3556 3558 3554 0 0 0 0 0 0 28.83 14.79 28.83

5367 -1.62 -146.0 2196 1143 3558 3555 495.6 -9.2 326 5373 0.00 2.53 0.00 0.000 1030 0.000 0.126 2189 2551 3557 3559 3555 0 0 0 0 0 0 28.83 14.78 28.83

5687 -1.62 -146.0 2189 2551 3558 3555 522.9 -8.6 339 5688 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 2556 3556 3558 3555 0 0 0 0 0 0 28.83 28.83 28.83

5985 -1.62 -146.0 2188 2551 3558 3556 548.4 -8.8 349 5986 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 2551 3557 3559 3556 0 0 0 0 0 0 28.83 28.83 28.83

6286 -1.62 -146.0 2189 2551 3559 3556 574.8 -9.3 359 6291 0.00 2.45 0.00 0.000 516 0.000 0.117 2189 1150 3557 3559 3556 0 0 0 0 0 0 28.83 14.79 28.83

6342 end dive: TARGET_DEPTH_EXCEEDED

state 6342 begin apogee

6348 -0.38 0.0 2183 2407 3559 3556 580.2 -8.6 370 6517 1.00 0.00 164.43 1.379 10246 0.246 0.000 2467 2407 2951 2973 2930 0 0 0 0 0 0 14.71 28.83 13.53

6518 end apogee: CONTROL_FINISHED_OK

state 6518 begin climb

6520 1.60 146.0 2467 2407 2963 2921 582.6 0.0 375 6706 1.40 2.90 171.62 1.244 10500 0.151 0.148 2900 3806 2347 2390 2304 0 0 0 0 0 0 14.00 13.84 13.47

6753 1.54 146.0 2899 3806 2382 2297 557.6 15.5 416 6759 0.12 2.55 0.00 0.000 5126 0.308 0.082 2884 2410 2339 2381 2297 0 0 0 0 0 0 13.97 14.07 28.83

7072 1.54 146.0 2884 2410 2379 2288 517.8 12.6 429 7073 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2410 2333 2379 2288 0 0 0 0 0 0 28.83 28.83 28.83

7371 1.54 146.0 2884 2410 2377 2287 480.4 12.5 439 7373 0.00 0.00 0.00 0.000 6 0.000 0.000 2883 2410 2332 2377 2287 0 0 0 0 0 0 28.83 28.83 28.83

7671 1.54 146.0 2884 2410 2377 2286 442.2 12.7 449 7673 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2410 2331 2377 2286 0 0 0 0 0 0 28.83 28.83 28.83

7971 1.54 146.0 2884 2410 2377 2284 404.7 12.5 459 7972 0.00 0.00 0.00 0.000 6 0.000 0.000 2884 2410 2331 2377 2285 0 0 0 0 0 0 28.83 28.83 28.83

8271 1.54 146.0 2884 2410 2375 2286 366.0 12.9 469 8278 0.00 2.67 0.00 0.000 260 0.000 0.149 2883 3812 2330 2374 2286 0 0 0 0 0 0 28.83 14.65 28.83

8335 1.51 146.0 2884 3813 2373 2287 357.3 14.2 481 8341 0.00 2.47 0.00 0.000 1030 0.000 0.085 2893 2394 2330 2373 2287 0 0 0 0 0 0 28.83 14.69 28.83

8670 1.51 146.0 2898 2395 2373 2286 314.3 12.9 497 8671 0.00 0.00 0.00 0.000 6 0.000 0.000 2893 2395 2330 2374 2286 0 0 0 0 0 0 28.83 28.83 28.83

8968 1.51 146.0 2892 2395 2373 2286 275.0 13.4 507 8970 0.00 0.00 0.00 0.000 6 0.000 0.000 2893 2395 2329 2373 2286 0 0 0 0 0 0 28.83 28.83 28.83

9278 1.51 146.0 2893 2395 2373 2285 234.2 12.6 519 9280 0.00 0.00 0.00 0.000 6 0.000 0.000 2893 2395 2329 2373 2285 0 0 0 0 0 0 28.83 28.83 28.83

9580 1.51 146.0 2893 2395 2373 2285 196.7 12.4 534 9586 0.00 2.67 0.00 0.000 260 0.000 0.147 2893 3807 2329 2373 2286 0 0 0 0 0 0 28.83 14.72 28.83

9624 1.46 146.0 2892 3807 2373 2286 190.6 14.0 542 9630 0.15 2.45 0.00 0.000 5126 0.290 0.083 2868 2400 2329 2373 2286 0 0 0 0 0 0 14.66 14.75 28.83

9948 1.49 146.0 2868 2395 2373 2285 151.6 11.8 561 9949 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 2395 2329 2374 2285 0 0 0 0 0 0 28.83 28.83 28.83

10249 1.51 146.0 2868 2395 2373 2286 117.9 10.9 576 10250 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 2395 2329 2373 2286 0 0 0 0 0 0 28.83 28.83 28.83

10548 1.54 146.0 2868 2395 2374 2286 86.4 10.2 591 10554 0.08 2.67 0.00 0.000 2308 0.210 0.146 2903 3807 2330 2373 2287 0 0 0 0 0 0 14.77 14.72 28.83

10638 1.51 146.0 2903 3807 2373 2288 75.1 12.6 608 10644 0.15 2.45 0.00 0.000 5126 0.291 0.083 2878 2393 2334 2374 2295 0 0 0 0 0 0 14.67 14.75 28.83

10958 1.54 146.0 2878 2393 2374 2288 40.9 10.2 626 10963 0.00 2.45 0.00 0.000 516 0.000 0.115 2887 991 2330 2373 2288 0 0 0 0 0 0 28.83 14.73 28.83

11056 1.59 166.3 2887 992 2373 2288 31.7 9.1 645 11073 0.00 2.53 10.18 0.219 9222 0.000 0.121 2887 2399 2272 2310 2234 0 0 0 0 0 0 28.83 14.72 14.65

11376 1.68 210.0 2886 2399 2316 2254 3.8 8.0 676 11392 0.10 0.00 13.35 0.160 10498 0.177 0.000 2924 2399 2192 2231 2154 0 0 0 0 0 0 14.76 28.83 28.83

11393 end climb: SURFACE_DEPTH_REACHED

state 11394 begin surface coast

11421 end surface coast: CONTROL_FINISHED_OK

state 11421 begin surface

ID	193	HD_C	6.0000002e-06	ROLL_MAX	3841	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	4	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	5
DIVE	126	ESCAPE_HEADING	120	C_ROLL_DIVE	2550	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1030	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	22	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	601.23029	R_STBD_OVSHOOT	13	XPDR_VALID	4
D_BOOST	100	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	5	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.93000001
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	9	VBD_MIN	500	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	DEVICE1	-1
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2951	DEVICE2	-1
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE4	-1
T_DIVE	330	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	400	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	3	UNCOM_BLEED	20	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	97
USE_BATHY	-3	T_RSLEEP	2	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	2	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.1	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	300	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	32
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	350	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	225	AH0_10V	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3900	MINV_24V	12	SIM_PITCH	0
MAX_BUOY	150	C_PITCH	2550	MINV_10V	12	SEABIRD_T_G	0.0042903274
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00062837056
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	FG_AHR_24V	0	SEABIRD_T_I	2.3004332e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_T_J	2.3253908e-06
RHO	1.0275	P_OVSHOOT_WITHG	0	PRESSURE_YINT	-50.214073	SEABIRD_C_G	-9.879467
MASS	52059	PITCH_GAIN	13	PRESSURE_SLOPE	0.0001163556	SEABIRD_C_H	1.1201456
MASS_COMP	0	PITCH_TIMEOUT	15	AD7714Ch0Gain	128	SEABIRD_C_I	-0.00035123606
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00012622437
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4	SC_PROFILE	3.0
HD_A	0.0043000001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	300	ALTIM_TOP_PING_RANGE	20

GPS1	301214,170135,6644.518,-5649.546,32,1.5,33,-32.2	SPEED_LIMITS	0.173,0.262
_CALLS	1	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	1.76	MHEAD_RNG_PITCHd_Wd	349.1,34404,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-50.1	D_GRID	580
GPS2	301214,171013,6644.434,-5649.564,5,1.5,5,-32.2

FREEZE	1.39,-0.099,-0.433,0,1,0	SC_FREEKB	7729600
FINISH	1.4,1.006296	_24V_AH	13.47,28.564
SM_CCo	11438,225.80,0.161,0,0,497,601.23	_10V_AH	13.66,0.000
SM_GC	1.85,7.68,0.30,225.80,0.076,0.159,0.161,208,2552,497,-10.66,-0.42,601.23,0,0,0,0,0,0,14.76,14.70,14.51	FG_AHR_24Vo	0.000
RAFOS_CLK	491	FG_AHR_10Vo	0.000
RAFOS	0,1419969671,20.033333,20.019722,65,55,55,55,51,49,188,151,209,218,168,120	MEM	271068
RAFOS_FIX	6640.624023,-5720.196777,301214,121200,2,91,2.07	DATA_FILE_SIZE	23403,681
IRIDIUM_FIX	6614.97,-5659.48,301214,100239	CAP_FILE_SIZE	120534,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260034560,243879936
HUMID	42.51	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.39122	INTR	0,13461.93,0x23769e,7,5
TCM_TEMP	13.60	SOUNDSPEED	1467.1
XPDR_PINGS	17	CURRENT	0.046,226.36,1
ALTIM_TOP_PING	19.2,17.5	GPS	301214,202634,6645.387,-5652.947,37,1.2,37,-32.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	462	131.08	nil	0	0	0.00
Roll_motor	60	164	133.04	nil	0	0	0.00
VBD_pump_during_apogee	359	1379	6680.58	nil	0	0	0.00
VBD_pump_during_surface	225	161	490.95	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	SciCon	11435	6	1056.95
Iridium_during_xfer	364	166	818.59	nil	0	0	0.00
Transponder_ping	4	420	25.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.81
TT8	1548	11	242.60
LPSleep	8283	2	261.39
TT8_Active	756	11	118.46
TT8_Sampling	1446	30	611.25
TT8_CF8	161	36	79.72
TT8_Kalman	0	0	0.00
Analog_circuits	1700	11	255.50
GPS_charging	0	0	0.00
Compass	1015	6	83.23
RAFOS	1080	1	22.13
Transponder	2	30	1.08

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.60	-146.0	186	2559	512	475	0.0	0.0	0	172	0.00	0.00	-151.27	0.000	16386	0.000	0.000	181	2559	3295	3270	3321	0	0	0	0	0	0	28.83	28.83	28.83
175	-1.60	-146.0	181	2559	3272	3322	3.5	-2.7	15	199	10.15	2.53	-7.53	0.000	18692	0.463	0.164	2187	3843	3549	3544	3554	0	0	0	0	0	0	14.31	14.44	14.67
425	-1.55	-146.0	2187	3843	3550	3554	39.8	-14.6	64	431	0.10	2.22	0.00	0.000	3078	0.323	0.062	2206	2539	3552	3550	3554	0	0	0	0	0	0	14.45	14.58	28.83
744	-1.55	-146.0	2206	2539	3551	3554	80.1	-11.8	82	749	0.00	2.47	0.00	0.000	260	0.000	0.146	2197	3840	3552	3551	3554	0	0	0	0	0	0	28.83	14.57	28.83
816	-1.53	-146.0	2198	3840	3551	3554	89.3	-13.0	96	821	0.00	2.20	0.00	0.000	1030	0.000	0.061	2198	2544	3552	3551	3554	0	0	0	0	0	0	28.83	14.65	28.83
1128	-1.53	-146.0	2198	2544	3551	3554	125.8	-11.2	113	1129	0.00	0.00	0.00	0.000	6	0.000	0.000	2198	2544	3552	3551	3553	0	0	0	0	0	0	28.83	28.83	28.83
1429	-1.53	-146.0	2198	2543	3550	3552	158.8	-10.7	128	1430	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2544	3551	3551	3552	0	0	0	0	0	0	28.83	28.83	28.83
1729	-1.53	-146.0	2198	2543	3551	3551	191.1	-10.3	143	1730	0.00	0.00	0.00	0.000	6	0.000	0.000	2198	2544	3551	3551	3551	0	0	0	0	0	0	28.83	28.83	28.83
2030	-1.53	-146.0	2198	2543	3551	3552	221.8	-10.0	158	2031	0.00	0.00	0.00	0.000	6	0.000	0.000	2198	2543	3551	3551	3551	0	0	0	0	0	0	28.83	28.83	28.83
2330	-1.53	-146.0	2198	2543	3551	3552	250.4	-9.2	173	2336	0.10	2.40	0.00	0.000	2564	0.322	0.099	2218	1150	3551	3551	3551	0	0	0	0	0	0	14.65	14.73	28.83
2373	-1.55	-146.0	2218	1150	3551	3552	254.5	-9.0	181	2380	0.00	2.47	0.00	0.000	1030	0.000	0.116	2210	2551	3551	3551	3551	0	0	0	0	0	0	28.83	14.72	28.83
2699	-1.57	-146.0	2211	2551	3551	3551	282.4	-8.2	195	2700	0.00	0.00	0.00	0.000	6	0.000	0.000	2211	2551	3551	3551	3551	0	0	0	0	0	0	28.83	28.83	28.83
2998	-1.60	-146.0	2211	2551	3552	3552	306.2	-7.8	205	3004	0.00	2.42	0.00	0.000	516	0.000	0.102	2211	1140	3551	3552	3551	0	0	0	0	0	0	28.83	14.76	28.83
3087	-1.62	-146.0	2211	1138	3551	3552	313.8	-8.5	222	3094	0.00	2.50	0.00	0.000	1030	0.000	0.118	2203	2552	3552	3552	3552	0	0	0	0	0	0	28.83	14.74	28.83
3393	-1.62	-146.0	2203	2552	3552	3552	340.9	-8.9	233	3394	0.00	0.00	0.00	0.000	6	0.000	0.000	2203	2552	3551	3552	3551	0	0	0	0	0	0	28.83	28.83	28.83
3692	-1.62	-146.0	2202	2552	3555	3552	366.9	-8.5	243	3693	0.00	0.00	0.00	0.000	6	0.000	0.000	2202	2552	3553	3555	3551	0	0	0	0	0	0	28.83	28.83	28.83
3992	-1.62	-146.0	2203	2552	3556	3553	391.9	-8.0	253	3998	0.00	2.42	0.00	0.000	516	0.000	0.105	2203	1147	3554	3556	3553	0	0	0	0	0	0	28.83	14.77	28.83
4045	-1.62	-146.0	2202	1146	3556	3553	396.0	-7.2	263	4050	0.00	2.50	0.00	0.000	1030	0.000	0.119	2196	2553	3554	3556	3553	0	0	0	0	0	0	28.83	14.76	28.83
4358	-1.62	-146.0	2196	2553	3557	3554	419.1	-7.5	275	4360	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2553	3555	3557	3553	0	0	0	0	0	0	28.83	28.83	28.83
4658	-1.62	-146.0	2196	2553	3557	3555	440.8	-7.2	285	4659	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2553	3555	3557	3554	0	0	0	0	0	0	28.83	28.83	28.83
4958	-1.62	-146.0	2196	2553	3558	3554	463.1	-7.4	295	4959	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2553	3555	3557	3554	0	0	0	0	0	0	28.83	28.83	28.83
5258	-1.62	-146.0	2196	2553	3558	3554	486.2	-7.6	305	5264	0.00	2.47	0.00	0.000	516	0.000	0.111	2196	1143	3556	3558	3554	0	0	0	0	0	0	28.83	14.79	28.83
5367	-1.62	-146.0	2196	1143	3558	3555	495.6	-9.2	326	5373	0.00	2.53	0.00	0.000	1030	0.000	0.126	2189	2551	3557	3559	3555	0	0	0	0	0	0	28.83	14.78	28.83
5687	-1.62	-146.0	2189	2551	3558	3555	522.9	-8.6	339	5688	0.00	0.00	0.00	0.000	6	0.000	0.000	2189	2556	3556	3558	3555	0	0	0	0	0	0	28.83	28.83	28.83
5985	-1.62	-146.0	2188	2551	3558	3556	548.4	-8.8	349	5986	0.00	0.00	0.00	0.000	6	0.000	0.000	2189	2551	3557	3559	3556	0	0	0	0	0	0	28.83	28.83	28.83
6286	-1.62	-146.0	2189	2551	3559	3556	574.8	-9.3	359	6291	0.00	2.45	0.00	0.000	516	0.000	0.117	2189	1150	3557	3559	3556	0	0	0	0	0	0	28.83	14.79	28.83
6342	end dive: TARGET_DEPTH_EXCEEDED
state	6342	begin apogee
6348	-0.38	0.0	2183	2407	3559	3556	580.2	-8.6	370	6517	1.00	0.00	164.43	1.379	10246	0.246	0.000	2467	2407	2951	2973	2930	0	0	0	0	0	0	14.71	28.83	13.53
6518	end apogee: CONTROL_FINISHED_OK
state	6518	begin climb
6520	1.60	146.0	2467	2407	2963	2921	582.6	0.0	375	6706	1.40	2.90	171.62	1.244	10500	0.151	0.148	2900	3806	2347	2390	2304	0	0	0	0	0	0	14.00	13.84	13.47
6753	1.54	146.0	2899	3806	2382	2297	557.6	15.5	416	6759	0.12	2.55	0.00	0.000	5126	0.308	0.082	2884	2410	2339	2381	2297	0	0	0	0	0	0	13.97	14.07	28.83
7072	1.54	146.0	2884	2410	2379	2288	517.8	12.6	429	7073	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2410	2333	2379	2288	0	0	0	0	0	0	28.83	28.83	28.83
7371	1.54	146.0	2884	2410	2377	2287	480.4	12.5	439	7373	0.00	0.00	0.00	0.000	6	0.000	0.000	2883	2410	2332	2377	2287	0	0	0	0	0	0	28.83	28.83	28.83
7671	1.54	146.0	2884	2410	2377	2286	442.2	12.7	449	7673	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2410	2331	2377	2286	0	0	0	0	0	0	28.83	28.83	28.83
7971	1.54	146.0	2884	2410	2377	2284	404.7	12.5	459	7972	0.00	0.00	0.00	0.000	6	0.000	0.000	2884	2410	2331	2377	2285	0	0	0	0	0	0	28.83	28.83	28.83
8271	1.54	146.0	2884	2410	2375	2286	366.0	12.9	469	8278	0.00	2.67	0.00	0.000	260	0.000	0.149	2883	3812	2330	2374	2286	0	0	0	0	0	0	28.83	14.65	28.83
8335	1.51	146.0	2884	3813	2373	2287	357.3	14.2	481	8341	0.00	2.47	0.00	0.000	1030	0.000	0.085	2893	2394	2330	2373	2287	0	0	0	0	0	0	28.83	14.69	28.83
8670	1.51	146.0	2898	2395	2373	2286	314.3	12.9	497	8671	0.00	0.00	0.00	0.000	6	0.000	0.000	2893	2395	2330	2374	2286	0	0	0	0	0	0	28.83	28.83	28.83
8968	1.51	146.0	2892	2395	2373	2286	275.0	13.4	507	8970	0.00	0.00	0.00	0.000	6	0.000	0.000	2893	2395	2329	2373	2286	0	0	0	0	0	0	28.83	28.83	28.83
9278	1.51	146.0	2893	2395	2373	2285	234.2	12.6	519	9280	0.00	0.00	0.00	0.000	6	0.000	0.000	2893	2395	2329	2373	2285	0	0	0	0	0	0	28.83	28.83	28.83
9580	1.51	146.0	2893	2395	2373	2285	196.7	12.4	534	9586	0.00	2.67	0.00	0.000	260	0.000	0.147	2893	3807	2329	2373	2286	0	0	0	0	0	0	28.83	14.72	28.83
9624	1.46	146.0	2892	3807	2373	2286	190.6	14.0	542	9630	0.15	2.45	0.00	0.000	5126	0.290	0.083	2868	2400	2329	2373	2286	0	0	0	0	0	0	14.66	14.75	28.83
9948	1.49	146.0	2868	2395	2373	2285	151.6	11.8	561	9949	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	2395	2329	2374	2285	0	0	0	0	0	0	28.83	28.83	28.83
10249	1.51	146.0	2868	2395	2373	2286	117.9	10.9	576	10250	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	2395	2329	2373	2286	0	0	0	0	0	0	28.83	28.83	28.83
10548	1.54	146.0	2868	2395	2374	2286	86.4	10.2	591	10554	0.08	2.67	0.00	0.000	2308	0.210	0.146	2903	3807	2330	2373	2287	0	0	0	0	0	0	14.77	14.72	28.83
10638	1.51	146.0	2903	3807	2373	2288	75.1	12.6	608	10644	0.15	2.45	0.00	0.000	5126	0.291	0.083	2878	2393	2334	2374	2295	0	0	0	0	0	0	14.67	14.75	28.83
10958	1.54	146.0	2878	2393	2374	2288	40.9	10.2	626	10963	0.00	2.45	0.00	0.000	516	0.000	0.115	2887	991	2330	2373	2288	0	0	0	0	0	0	28.83	14.73	28.83
11056	1.59	166.3	2887	992	2373	2288	31.7	9.1	645	11073	0.00	2.53	10.18	0.219	9222	0.000	0.121	2887	2399	2272	2310	2234	0	0	0	0	0	0	28.83	14.72	14.65
11376	1.68	210.0	2886	2399	2316	2254	3.8	8.0	676	11392	0.10	0.00	13.35	0.160	10498	0.177	0.000	2924	2399	2192	2231	2154	0	0	0	0	0	0	14.76	28.83	28.83
11393	end climb: SURFACE_DEPTH_REACHED
state	11394	begin surface coast
11421	end surface coast: CONTROL_FINISHED_OK
state	11421	begin surface