Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 142 * 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 142 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 36 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 11 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 0 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 350

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 36 VBD_DBAND 2

DEVICE4 -1 MISSION 4 R_STBD_OVSHOOT 11 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 0 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 142 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 010115,222504,6700.958,-5649.376,28,0.8,28,-32.5 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 1.91 MHEAD_RNG_PITCHd_Wd 47.5,3913,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -59.9 D_GRID 532

GPS2 010115,223017,6700.959,-5649.402,5,0.8,5,-32.5

Post-dive calculations and measurements:

FREEZE 1.88,-1.041,-1.795,0,1,0 ALTIM_TOP_PING 19.8,18.1

FINISH 1.9,1.026333 SC_FREEKB 7724480

SM_CCo 10545,104.43,0.158,0,0,1522,350.04 _24V_AH 13.44,31.978

SM_GC 2.18,8.00,0.30,104.43,0.126,0.154,0.158,208,2558,1522,-10.66,-0.28,350.04,0,0,0,0,0,0,14.79,14.73,14.62 _10V_AH 13.30,0.000

RAFOS_CLK 444 FG_AHR_24Vo 0.000

RAFOS 0,1420156862,0.033333,0.017222,61,59,59,56,54,51,195,156,226,140,174,116 FG_AHR_10Vo 0.000

RAFOS_FIX 6706.202637,-5658.831055,020115,000056,2,126,1.45 MEM 271024

IRIDIUM_FIX 6631.12,-5646.10,010115,203833 DATA_FILE_SIZE 20052,616

TT8_MAMPS 0.025466,0.025466 CAP_FILE_SIZE 107647,0

HUMID 45.11 CFSIZE 260034560,242839552

INTERNAL_PRESSURE 8.49865 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.80 SOUNDSPEED 1467.8

XPDR_PINGS 7 GPS 020115,012959,6702.427,-5648.306,40,0.9,40,-32.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 469 131.31 nil 0 0 0.00

Roll_motor 56 153 116.35 nil 0 0 0.00

VBD_pump_during_apogee 330 1331 5911.12 nil 0 0 0.00

VBD_pump_during_surface 104 157 221.17 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 10416 7 983.86

Iridium_during_xfer 201 140 380.40 nil 0 0 0.00

Transponder_ping 2 420 11.29 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.75

TT8 1407 11 214.66

LPSleep 7690 2 236.27

TT8_Active 582 11 88.79

TT8_Sampling 1188 30 489.12

TT8_CF8 131 36 63.27

TT8_Kalman 0 0 0.00

Analog_circuits 1301 11 190.45

GPS_charging 0 0 0.00

Compass 923 6 73.70

RAFOS 2520 1 50.27

Transponder 3 30 1.53

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

19 -1.60 -146.0 209 2531 1519 1520 0.0 0.0 0 122 0.00 0.00 -101.50 0.000 16386 0.000 0.000 209 2531 3353 3330 3376 0 0 0 0 0 0 28.83 28.83 28.83

125 -1.60 -146.0 209 2531 3331 3377 3.3 -2.1 10 147 10.10 2.50 -5.45 0.000 18948 0.470 0.129 2197 1156 3550 3545 3555 0 0 0 0 0 0 14.34 14.52 14.72

373 -1.58 -146.0 2197 1156 3551 3555 37.2 -12.8 59 379 0.00 2.55 0.00 0.000 1030 0.000 0.123 2191 2553 3553 3551 3555 0 0 0 0 0 0 28.83 14.56 28.83

691 -1.58 -146.0 2191 2552 3551 3555 76.8 -12.1 77 697 0.00 2.47 0.00 0.000 516 0.000 0.109 2190 1148 3552 3551 3554 0 0 0 0 0 0 28.83 14.63 28.83

748 -1.58 -146.0 2191 1148 3552 3555 83.9 -12.3 88 755 0.10 2.55 0.00 0.000 3078 0.334 0.122 2203 2557 3553 3551 3555 0 0 0 0 0 0 14.53 14.62 28.83

1054 -1.58 -146.0 2203 2557 3551 3554 116.6 -10.2 104 1059 0.00 2.47 0.00 0.000 516 0.000 0.108 2203 1147 3552 3551 3553 0 0 0 0 0 0 28.83 14.65 28.83

1127 -1.58 -146.0 2203 1152 3551 3553 124.4 -10.5 118 1132 0.00 2.55 0.00 0.000 1030 0.000 0.124 2199 2554 3552 3552 3553 0 0 0 0 0 0 28.83 14.65 28.83

1440 -1.58 -146.0 2199 2554 3551 3551 155.9 -9.9 135 1445 0.00 2.45 0.00 0.000 516 0.000 0.108 2199 1155 3551 3551 3551 0 0 0 0 0 0 28.83 14.69 28.83

1487 -1.58 -146.0 2199 1156 3551 3551 160.8 -9.9 144 1492 0.00 2.53 0.00 0.000 1030 0.000 0.123 2193 2555 3551 3552 3551 0 0 0 0 0 0 28.83 14.67 28.83

1804 -1.58 -146.0 2193 2555 3551 3550 191.2 -9.5 162 1806 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 2555 3550 3551 3550 0 0 0 0 0 0 28.83 28.83 28.83

2105 -1.58 -146.0 2193 2555 3551 3550 219.3 -9.4 177 2106 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2555 3550 3551 3550 0 0 0 0 0 0 28.83 28.83 28.83

2405 -1.58 -146.0 2192 2555 3551 3550 247.4 -9.5 192 2406 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2555 3551 3551 3551 0 0 0 0 0 0 28.83 28.83 28.83

2714 -1.58 -146.0 2188 2555 3551 3550 277.0 -9.4 203 2720 0.00 2.45 0.00 0.000 516 0.000 0.110 2192 1152 3551 3551 3551 0 0 0 0 0 0 28.83 14.74 28.83

2797 -1.58 -146.0 2192 1152 3551 3551 285.2 -9.8 219 2802 0.00 2.53 0.00 0.000 1030 0.000 0.127 2187 2559 3551 3551 3551 0 0 0 0 0 0 28.83 14.73 28.83

3111 -1.58 -146.0 2187 2559 3551 3551 315.3 -9.4 231 3116 0.00 2.47 0.00 0.000 516 0.000 0.113 2187 1148 3551 3551 3551 0 0 0 0 0 0 28.83 14.75 28.83

3198 -1.58 -146.0 2187 1148 3551 3551 323.2 -8.4 248 3205 0.12 2.53 0.00 0.000 3078 0.323 0.127 2207 2552 3551 3551 3551 0 0 0 0 0 0 14.65 14.73 28.83

3505 -1.60 -146.0 2207 2552 3551 3551 347.0 -7.8 259 3510 0.00 2.45 0.00 0.000 516 0.000 0.112 2207 1151 3551 3552 3551 0 0 0 0 0 0 28.83 14.76 28.83

3558 -1.62 -146.0 2207 1151 3551 3551 351.2 -8.1 269 3563 0.00 2.53 0.00 0.000 1030 0.000 0.125 2201 2559 3551 3552 3551 0 0 0 0 0 0 28.83 14.73 28.83

3872 -1.62 -146.0 2201 2562 3552 3552 374.8 -7.4 281 3873 0.00 0.00 0.00 0.000 6 0.000 0.000 2201 2559 3552 3552 3552 0 0 0 0 0 0 28.83 28.83 28.83

4172 -1.65 -146.0 2201 2559 3552 3552 396.9 -7.4 291 4173 0.00 0.00 0.00 0.000 6 0.000 0.000 2200 2559 3551 3552 3551 0 0 0 0 0 0 28.83 28.83 28.83

4471 -1.65 -146.0 2200 2559 3554 3552 418.9 -7.3 301 4476 0.00 2.45 0.00 0.000 516 0.000 0.112 2201 1155 3553 3554 3552 0 0 0 0 0 0 28.83 14.77 28.83

4564 -1.65 -146.0 2201 1155 3554 3553 426.5 -8.6 319 4569 0.00 2.53 0.00 0.000 1030 0.000 0.127 2196 2558 3553 3554 3553 0 0 0 0 0 0 28.83 14.75 28.83

4897 -1.65 -146.0 2196 2558 3555 3553 454.8 -8.7 335 4898 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2558 3554 3555 3553 0 0 0 0 0 0 28.83 28.83 28.83

5197 -1.65 -146.0 2196 2556 3556 3554 480.6 -8.6 345 5202 0.00 2.47 0.00 0.000 516 0.000 0.115 2196 1144 3554 3556 3553 0 0 0 0 0 0 28.83 14.77 28.83

5302 -1.67 -146.0 2196 1144 3557 3554 489.9 -8.4 365 5307 0.00 2.53 0.00 0.000 1030 0.000 0.128 2190 2548 3554 3556 3553 0 0 0 0 0 0 28.83 14.76 28.83

5625 -1.67 -146.0 2190 2548 3556 3554 518.2 -8.5 379 5627 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2548 3555 3556 3554 0 0 0 0 0 0 28.83 28.83 28.83

5803 end dive: TARGET_DEPTH_EXCEEDED

state 5803 begin apogee

5808 -0.38 0.0 2190 2401 3556 3553 533.3 -8.4 385 5972 0.98 0.00 160.48 1.332 10246 0.250 0.000 2465 2401 2950 2972 2929 0 0 0 0 0 0 14.69 28.83 13.55

5974 end apogee: CONTROL_FINISHED_OK

state 5974 begin climb

5976 1.60 146.0 2465 2401 2962 2919 536.3 0.0 390 6142 1.40 0.00 161.25 1.233 10502 0.160 0.000 2896 2401 2355 2401 2309 0 0 0 0 0 0 14.00 28.83 13.44

6435 1.57 146.0 2896 2401 2376 2279 483.3 13.1 411 6436 0.00 0.00 0.00 0.000 6 0.000 0.000 2896 2401 2327 2376 2279 0 0 0 0 0 0 28.83 28.83 28.83

6735 1.55 146.0 2896 2401 2374 2277 443.0 13.5 421 6736 0.00 0.00 0.00 0.000 6 0.000 0.000 2896 2401 2325 2374 2277 0 0 0 0 0 0 28.83 28.83 28.83

7035 1.53 146.0 2896 2401 2375 2276 401.5 13.8 431 7036 0.00 0.00 0.00 0.000 6 0.000 0.000 2896 2401 2325 2374 2276 0 0 0 0 0 0 28.83 28.83 28.83

7338 1.50 146.0 2896 2401 2374 2275 359.9 13.7 441 7339 0.00 0.00 0.00 0.000 6 0.000 0.000 2896 2401 2325 2374 2276 0 0 0 0 0 0 28.83 28.83 28.83

7635 1.48 146.0 2896 2401 2372 2276 320.2 12.9 451 7636 0.10 0.00 0.00 0.000 4102 0.308 0.000 2875 2401 2324 2372 2276 0 0 0 0 0 0 14.59 28.83 28.83

7935 1.48 146.0 2875 2401 2372 2276 284.3 11.7 461 7937 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2401 2324 2372 2276 0 0 0 0 0 0 28.83 28.83 28.83

8235 1.48 146.0 2876 2401 2372 2276 247.6 12.4 471 8236 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2401 2323 2372 2275 0 0 0 0 0 0 28.83 28.83 28.83

8535 1.48 146.0 2875 2401 2372 2275 211.0 12.1 486 8537 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2401 2323 2372 2275 0 0 0 0 0 0 28.83 28.83 28.83

8835 1.48 146.0 2876 2401 2372 2275 175.5 11.6 501 8836 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2401 2323 2372 2275 0 0 0 0 0 0 28.83 28.83 28.83

9135 1.48 146.0 2876 2401 2372 2276 140.5 11.5 516 9141 0.00 2.67 0.00 0.000 260 0.000 0.145 2875 3813 2321 2367 2276 0 0 0 0 0 0 28.83 14.71 28.83

9219 1.46 146.0 2875 3813 2369 2278 129.8 13.0 532 9224 0.00 2.42 0.00 0.000 1030 0.000 0.081 2885 2409 2323 2369 2277 0 0 0 0 0 0 28.83 14.75 28.83

9541 1.46 146.0 2885 2409 2369 2277 91.6 11.9 551 9543 0.00 0.00 0.00 0.000 6 0.000 0.000 2885 2409 2323 2369 2278 0 0 0 0 0 0 28.83 28.83 28.83

9843 1.46 146.0 2885 2409 2369 2283 55.8 11.4 566 9844 0.00 0.00 0.00 0.000 6 0.000 0.000 2885 2409 2323 2369 2278 0 0 0 0 0 0 28.83 28.83 28.83

10143 1.50 161.9 2885 2409 2368 2280 26.8 9.3 581 10157 0.00 2.53 6.15 0.199 8708 0.000 0.113 2894 999 2292 2332 2253 0 0 0 0 0 0 28.83 14.71 14.67

10232 1.53 161.9 2895 999 2338 2270 18.0 10.3 598 10239 0.00 2.50 2.35 0.184 9222 0.000 0.116 2895 2402 2289 2328 2250 0 0 0 0 0 0 28.83 14.72 14.69

10386 end climb: SURFACE_DEPTH_REACHED

state 10386 begin surface coast

10408 end surface coast: CONTROL_FINISHED_OK

state 10408 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	142	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	36	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	11	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	0	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	010115,222504,6700.958,-5649.376,28,0.8,28,-32.5	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	1.91	MHEAD_RNG_PITCHd_Wd	47.5,3913,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-59.9	D_GRID	532
GPS2	010115,223017,6700.959,-5649.402,5,0.8,5,-32.5

FREEZE	1.88,-1.041,-1.795,0,1,0	ALTIM_TOP_PING	19.8,18.1
FINISH	1.9,1.026333	SC_FREEKB	7724480
SM_CCo	10545,104.43,0.158,0,0,1522,350.04	_24V_AH	13.44,31.978
SM_GC	2.18,8.00,0.30,104.43,0.126,0.154,0.158,208,2558,1522,-10.66,-0.28,350.04,0,0,0,0,0,0,14.79,14.73,14.62	_10V_AH	13.30,0.000
RAFOS_CLK	444	FG_AHR_24Vo	0.000
RAFOS	0,1420156862,0.033333,0.017222,61,59,59,56,54,51,195,156,226,140,174,116	FG_AHR_10Vo	0.000
RAFOS_FIX	6706.202637,-5658.831055,020115,000056,2,126,1.45	MEM	271024
IRIDIUM_FIX	6631.12,-5646.10,010115,203833	DATA_FILE_SIZE	20052,616
TT8_MAMPS	0.025466,0.025466	CAP_FILE_SIZE	107647,0
HUMID	45.11	CFSIZE	260034560,242839552
INTERNAL_PRESSURE	8.49865	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.80	SOUNDSPEED	1467.8
XPDR_PINGS	7	GPS	020115,012959,6702.427,-5648.306,40,0.9,40,-32.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	469	131.31	nil	0	0	0.00
Roll_motor	56	153	116.35	nil	0	0	0.00
VBD_pump_during_apogee	330	1331	5911.12	nil	0	0	0.00
VBD_pump_during_surface	104	157	221.17	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	10416	7	983.86
Iridium_during_xfer	201	140	380.40	nil	0	0	0.00
Transponder_ping	2	420	11.29	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.75
TT8	1407	11	214.66
LPSleep	7690	2	236.27
TT8_Active	582	11	88.79
TT8_Sampling	1188	30	489.12
TT8_CF8	131	36	63.27
TT8_Kalman	0	0	0.00
Analog_circuits	1301	11	190.45
GPS_charging	0	0	0.00
Compass	923	6	73.70
RAFOS	2520	1	50.27
Transponder	3	30	1.53

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
19	-1.60	-146.0	209	2531	1519	1520	0.0	0.0	0	122	0.00	0.00	-101.50	0.000	16386	0.000	0.000	209	2531	3353	3330	3376	0	0	0	0	0	0	28.83	28.83	28.83
125	-1.60	-146.0	209	2531	3331	3377	3.3	-2.1	10	147	10.10	2.50	-5.45	0.000	18948	0.470	0.129	2197	1156	3550	3545	3555	0	0	0	0	0	0	14.34	14.52	14.72
373	-1.58	-146.0	2197	1156	3551	3555	37.2	-12.8	59	379	0.00	2.55	0.00	0.000	1030	0.000	0.123	2191	2553	3553	3551	3555	0	0	0	0	0	0	28.83	14.56	28.83
691	-1.58	-146.0	2191	2552	3551	3555	76.8	-12.1	77	697	0.00	2.47	0.00	0.000	516	0.000	0.109	2190	1148	3552	3551	3554	0	0	0	0	0	0	28.83	14.63	28.83
748	-1.58	-146.0	2191	1148	3552	3555	83.9	-12.3	88	755	0.10	2.55	0.00	0.000	3078	0.334	0.122	2203	2557	3553	3551	3555	0	0	0	0	0	0	14.53	14.62	28.83
1054	-1.58	-146.0	2203	2557	3551	3554	116.6	-10.2	104	1059	0.00	2.47	0.00	0.000	516	0.000	0.108	2203	1147	3552	3551	3553	0	0	0	0	0	0	28.83	14.65	28.83
1127	-1.58	-146.0	2203	1152	3551	3553	124.4	-10.5	118	1132	0.00	2.55	0.00	0.000	1030	0.000	0.124	2199	2554	3552	3552	3553	0	0	0	0	0	0	28.83	14.65	28.83
1440	-1.58	-146.0	2199	2554	3551	3551	155.9	-9.9	135	1445	0.00	2.45	0.00	0.000	516	0.000	0.108	2199	1155	3551	3551	3551	0	0	0	0	0	0	28.83	14.69	28.83
1487	-1.58	-146.0	2199	1156	3551	3551	160.8	-9.9	144	1492	0.00	2.53	0.00	0.000	1030	0.000	0.123	2193	2555	3551	3552	3551	0	0	0	0	0	0	28.83	14.67	28.83
1804	-1.58	-146.0	2193	2555	3551	3550	191.2	-9.5	162	1806	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	2555	3550	3551	3550	0	0	0	0	0	0	28.83	28.83	28.83
2105	-1.58	-146.0	2193	2555	3551	3550	219.3	-9.4	177	2106	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2555	3550	3551	3550	0	0	0	0	0	0	28.83	28.83	28.83
2405	-1.58	-146.0	2192	2555	3551	3550	247.4	-9.5	192	2406	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2555	3551	3551	3551	0	0	0	0	0	0	28.83	28.83	28.83
2714	-1.58	-146.0	2188	2555	3551	3550	277.0	-9.4	203	2720	0.00	2.45	0.00	0.000	516	0.000	0.110	2192	1152	3551	3551	3551	0	0	0	0	0	0	28.83	14.74	28.83
2797	-1.58	-146.0	2192	1152	3551	3551	285.2	-9.8	219	2802	0.00	2.53	0.00	0.000	1030	0.000	0.127	2187	2559	3551	3551	3551	0	0	0	0	0	0	28.83	14.73	28.83
3111	-1.58	-146.0	2187	2559	3551	3551	315.3	-9.4	231	3116	0.00	2.47	0.00	0.000	516	0.000	0.113	2187	1148	3551	3551	3551	0	0	0	0	0	0	28.83	14.75	28.83
3198	-1.58	-146.0	2187	1148	3551	3551	323.2	-8.4	248	3205	0.12	2.53	0.00	0.000	3078	0.323	0.127	2207	2552	3551	3551	3551	0	0	0	0	0	0	14.65	14.73	28.83
3505	-1.60	-146.0	2207	2552	3551	3551	347.0	-7.8	259	3510	0.00	2.45	0.00	0.000	516	0.000	0.112	2207	1151	3551	3552	3551	0	0	0	0	0	0	28.83	14.76	28.83
3558	-1.62	-146.0	2207	1151	3551	3551	351.2	-8.1	269	3563	0.00	2.53	0.00	0.000	1030	0.000	0.125	2201	2559	3551	3552	3551	0	0	0	0	0	0	28.83	14.73	28.83
3872	-1.62	-146.0	2201	2562	3552	3552	374.8	-7.4	281	3873	0.00	0.00	0.00	0.000	6	0.000	0.000	2201	2559	3552	3552	3552	0	0	0	0	0	0	28.83	28.83	28.83
4172	-1.65	-146.0	2201	2559	3552	3552	396.9	-7.4	291	4173	0.00	0.00	0.00	0.000	6	0.000	0.000	2200	2559	3551	3552	3551	0	0	0	0	0	0	28.83	28.83	28.83
4471	-1.65	-146.0	2200	2559	3554	3552	418.9	-7.3	301	4476	0.00	2.45	0.00	0.000	516	0.000	0.112	2201	1155	3553	3554	3552	0	0	0	0	0	0	28.83	14.77	28.83
4564	-1.65	-146.0	2201	1155	3554	3553	426.5	-8.6	319	4569	0.00	2.53	0.00	0.000	1030	0.000	0.127	2196	2558	3553	3554	3553	0	0	0	0	0	0	28.83	14.75	28.83
4897	-1.65	-146.0	2196	2558	3555	3553	454.8	-8.7	335	4898	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2558	3554	3555	3553	0	0	0	0	0	0	28.83	28.83	28.83
5197	-1.65	-146.0	2196	2556	3556	3554	480.6	-8.6	345	5202	0.00	2.47	0.00	0.000	516	0.000	0.115	2196	1144	3554	3556	3553	0	0	0	0	0	0	28.83	14.77	28.83
5302	-1.67	-146.0	2196	1144	3557	3554	489.9	-8.4	365	5307	0.00	2.53	0.00	0.000	1030	0.000	0.128	2190	2548	3554	3556	3553	0	0	0	0	0	0	28.83	14.76	28.83
5625	-1.67	-146.0	2190	2548	3556	3554	518.2	-8.5	379	5627	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2548	3555	3556	3554	0	0	0	0	0	0	28.83	28.83	28.83
5803	end dive: TARGET_DEPTH_EXCEEDED
state	5803	begin apogee
5808	-0.38	0.0	2190	2401	3556	3553	533.3	-8.4	385	5972	0.98	0.00	160.48	1.332	10246	0.250	0.000	2465	2401	2950	2972	2929	0	0	0	0	0	0	14.69	28.83	13.55
5974	end apogee: CONTROL_FINISHED_OK
state	5974	begin climb
5976	1.60	146.0	2465	2401	2962	2919	536.3	0.0	390	6142	1.40	0.00	161.25	1.233	10502	0.160	0.000	2896	2401	2355	2401	2309	0	0	0	0	0	0	14.00	28.83	13.44
6435	1.57	146.0	2896	2401	2376	2279	483.3	13.1	411	6436	0.00	0.00	0.00	0.000	6	0.000	0.000	2896	2401	2327	2376	2279	0	0	0	0	0	0	28.83	28.83	28.83
6735	1.55	146.0	2896	2401	2374	2277	443.0	13.5	421	6736	0.00	0.00	0.00	0.000	6	0.000	0.000	2896	2401	2325	2374	2277	0	0	0	0	0	0	28.83	28.83	28.83
7035	1.53	146.0	2896	2401	2375	2276	401.5	13.8	431	7036	0.00	0.00	0.00	0.000	6	0.000	0.000	2896	2401	2325	2374	2276	0	0	0	0	0	0	28.83	28.83	28.83
7338	1.50	146.0	2896	2401	2374	2275	359.9	13.7	441	7339	0.00	0.00	0.00	0.000	6	0.000	0.000	2896	2401	2325	2374	2276	0	0	0	0	0	0	28.83	28.83	28.83
7635	1.48	146.0	2896	2401	2372	2276	320.2	12.9	451	7636	0.10	0.00	0.00	0.000	4102	0.308	0.000	2875	2401	2324	2372	2276	0	0	0	0	0	0	14.59	28.83	28.83
7935	1.48	146.0	2875	2401	2372	2276	284.3	11.7	461	7937	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2401	2324	2372	2276	0	0	0	0	0	0	28.83	28.83	28.83
8235	1.48	146.0	2876	2401	2372	2276	247.6	12.4	471	8236	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2401	2323	2372	2275	0	0	0	0	0	0	28.83	28.83	28.83
8535	1.48	146.0	2875	2401	2372	2275	211.0	12.1	486	8537	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2401	2323	2372	2275	0	0	0	0	0	0	28.83	28.83	28.83
8835	1.48	146.0	2876	2401	2372	2275	175.5	11.6	501	8836	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2401	2323	2372	2275	0	0	0	0	0	0	28.83	28.83	28.83
9135	1.48	146.0	2876	2401	2372	2276	140.5	11.5	516	9141	0.00	2.67	0.00	0.000	260	0.000	0.145	2875	3813	2321	2367	2276	0	0	0	0	0	0	28.83	14.71	28.83
9219	1.46	146.0	2875	3813	2369	2278	129.8	13.0	532	9224	0.00	2.42	0.00	0.000	1030	0.000	0.081	2885	2409	2323	2369	2277	0	0	0	0	0	0	28.83	14.75	28.83
9541	1.46	146.0	2885	2409	2369	2277	91.6	11.9	551	9543	0.00	0.00	0.00	0.000	6	0.000	0.000	2885	2409	2323	2369	2278	0	0	0	0	0	0	28.83	28.83	28.83
9843	1.46	146.0	2885	2409	2369	2283	55.8	11.4	566	9844	0.00	0.00	0.00	0.000	6	0.000	0.000	2885	2409	2323	2369	2278	0	0	0	0	0	0	28.83	28.83	28.83
10143	1.50	161.9	2885	2409	2368	2280	26.8	9.3	581	10157	0.00	2.53	6.15	0.199	8708	0.000	0.113	2894	999	2292	2332	2253	0	0	0	0	0	0	28.83	14.71	14.67
10232	1.53	161.9	2895	999	2338	2270	18.0	10.3	598	10239	0.00	2.50	2.35	0.184	9222	0.000	0.116	2895	2402	2289	2328	2250	0	0	0	0	0	0	28.83	14.72	14.69
10386	end climb: SURFACE_DEPTH_REACHED
state	10386	begin surface coast
10408	end surface coast: CONTROL_FINISHED_OK
state	10408	begin surface