Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 148 * 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 148 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 350 R_STBD_OVSHOOT 15 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 22 VBD_DBAND 2

DEVICE4 -1 MISSION 4 R_STBD_OVSHOOT 15 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 148 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 020115,181604,6700.484,-5647.189,30,1.1,30,-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 1.96 MHEAD_RNG_PITCHd_Wd 25.9,4773,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -54.8 D_GRID 513

GPS2 020115,182235,6700.440,-5647.239,5,1.1,6,-32.5

Post-dive calculations and measurements:

FREEZE 1.56,-0.923,-1.702,0,1,0 SC_FREEKB 7722560

FINISH 1.6,1.025006 _24V_AH 13.45,33.275

SM_CCo 10074,90.00,0.160,0,0,1522,350.04 _10V_AH 13.32,0.000

SM_GC 2.59,7.68,0.32,90.00,0.084,0.151,0.160,202,2549,1522,-10.67,-0.40,350.04,0,0,0,0,0,0,14.76,14.69,14.60 FG_AHR_24Vo 0.000

RAFOS_CLK 426 FG_AHR_10Vo 0.000

RAFOS 0,1420228862,20.033333,20.017221,60,56,54,51,48,48,201,138,212,81,110,158 MEM 271004

RAFOS_FIX 6705.320312,-5658.294922,020115,161656,2,120,1.92 DATA_FILE_SIZE 20086,597

IRIDIUM_FIX 6631.12,-5658.34,020115,150338 CAP_FILE_SIZE 109646,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 260034560,242413568

HUMID 44.95 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.47912 INTR 0,11744.76,0x23769e,7,5

TCM_TEMP 13.60 SOUNDSPEED 1467.9

XPDR_PINGS 6 GPS 020115,211403,6701.919,-5646.891,41,1.0,46,-32.5

ALTIM_TOP_PING 19.8,17.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 466 129.77 nil 0 0 0.00

Roll_motor 75 166 169.74 nil 0 0 0.00

VBD_pump_during_apogee 342 1311 6037.17 nil 0 0 0.00

VBD_pump_during_surface 90 159 193.54 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 10072 7 952.48

Iridium_during_xfer 263 148 525.73 nil 0 0 0.00

Transponder_ping 1 420 9.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.74

TT8 1319 11 201.60

LPSleep 7300 2 224.63

TT8_Active 590 11 90.22

TT8_Sampling 1212 30 499.72

TT8_CF8 149 36 72.12

TT8_Kalman 0 0 0.00

Analog_circuits 1372 11 201.06

GPS_charging 0 0 0.00

Compass 896 6 71.67

RAFOS 2520 1 50.35

Transponder 2 30 1.05

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -1.60 -146.0 201 2560 1518 1514 0.0 0.0 0 122 0.00 0.00 -101.15 0.000 16386 0.000 0.000 202 2560 3343 3319 3367 0 0 0 0 0 0 28.83 28.83 28.83

125 -1.60 -146.0 201 2560 3321 3366 3.6 -2.7 10 147 10.10 2.50 -5.72 0.000 18692 0.467 0.167 2186 3836 3549 3545 3554 0 0 0 0 0 0 14.32 14.48 14.72

314 -1.56 -146.0 2187 3836 3551 3554 31.0 -14.0 47 320 0.10 2.22 0.00 0.000 3078 0.319 0.063 2205 2534 3552 3551 3554 0 0 0 0 0 0 14.46 14.59 28.83

632 -1.56 -146.0 2205 2534 3551 3554 70.1 -12.6 65 633 0.00 0.00 0.00 0.000 6 0.000 0.000 2205 2534 3552 3551 3554 0 0 0 0 0 0 28.83 28.83 28.83

933 -1.56 -146.0 2205 2534 3551 3553 104.1 -10.2 80 938 0.00 2.40 0.00 0.000 516 0.000 0.099 2205 1144 3552 3551 3553 0 0 0 0 0 0 28.83 14.64 28.83

1050 -1.56 -146.0 2205 1144 3551 3549 117.0 -10.6 103 1057 0.00 2.50 0.00 0.000 1030 0.000 0.116 2199 2548 3552 3551 3553 0 0 0 0 0 0 28.83 14.64 28.83

1355 -1.56 -146.0 2199 2549 3551 3551 149.6 -10.1 119 1360 0.00 2.42 0.00 0.000 516 0.000 0.099 2199 1149 3551 3551 3551 0 0 0 0 0 0 28.83 14.68 28.83

1432 -1.56 -146.0 2199 1149 3551 3557 157.7 -10.7 134 1439 0.00 2.50 0.00 0.000 1030 0.000 0.116 2192 2559 3550 3551 3550 0 0 0 0 0 0 28.83 14.66 28.83

1738 -1.56 -146.0 2192 2554 3551 3549 186.9 -9.6 150 1743 0.00 2.42 0.00 0.000 516 0.000 0.099 2192 1151 3550 3551 3549 0 0 0 0 0 0 28.83 14.69 28.83

1801 -1.56 -146.0 2192 1151 3551 3549 192.8 -9.3 162 1807 0.10 2.47 0.00 0.000 3078 0.335 0.117 2205 2545 3550 3551 3549 0 0 0 0 0 0 14.59 14.69 28.83

2125 -1.56 -146.0 2205 2545 3551 3550 220.7 -8.3 181 2131 0.00 2.42 0.00 0.000 516 0.000 0.101 2206 1141 3550 3551 3549 0 0 0 0 0 0 28.83 14.71 28.83

2164 -1.56 -146.0 2206 1141 3551 3549 224.1 -9.2 188 2170 0.00 2.53 0.00 0.000 1030 0.000 0.119 2199 2557 3551 3553 3549 0 0 0 0 0 0 28.83 14.70 28.83

2468 -1.56 -146.0 2199 2557 3551 3549 249.6 -8.0 204 2470 0.00 0.00 0.00 0.000 6 0.000 0.000 2199 2557 3550 3551 3549 0 0 0 0 0 0 28.83 28.83 28.83

2789 -1.56 -146.0 2198 2557 3551 3550 274.6 -8.0 215 2790 0.00 0.00 0.00 0.000 6 0.000 0.000 2199 2557 3550 3551 3550 0 0 0 0 0 0 28.83 28.83 28.83

3088 -1.56 -146.0 2199 2557 3551 3550 300.1 -8.8 225 3094 0.00 2.42 0.00 0.000 516 0.000 0.103 2199 1150 3549 3551 3548 0 0 0 0 0 0 28.83 14.76 28.83

3171 -1.56 -146.0 2199 1150 3551 3550 307.7 -10.0 241 3176 0.00 2.50 0.00 0.000 1030 0.000 0.119 2192 2558 3550 3551 3550 0 0 0 0 0 0 28.83 14.74 28.83

3484 -1.56 -146.0 2193 2558 3559 3549 335.1 -8.5 253 3486 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2558 3549 3552 3547 0 0 0 0 0 0 28.83 28.83 28.83

3784 -1.56 -146.0 2193 2558 3553 3550 360.5 -8.6 263 3789 0.00 2.45 0.00 0.000 516 0.000 0.108 2193 1143 3551 3553 3550 0 0 0 0 0 0 28.83 14.76 28.83

3821 -1.56 -146.0 2193 1143 3552 3550 363.9 -9.0 270 3827 0.10 2.53 0.00 0.000 3078 0.337 0.123 2206 2560 3555 3553 3557 0 0 0 0 0 0 14.66 14.75 28.83

4151 -1.58 -146.0 2206 2559 3554 3550 390.3 -7.7 285 4156 0.00 2.45 0.00 0.000 516 0.000 0.108 2206 1147 3552 3554 3550 0 0 0 0 0 0 28.83 14.76 28.83

4228 -1.61 -146.0 2206 1147 3554 3550 396.8 -9.1 300 4234 0.00 2.53 0.00 0.000 1030 0.000 0.122 2200 2559 3552 3554 3551 0 0 0 0 0 0 28.83 14.76 28.83

4548 -1.63 -146.0 2200 2559 3556 3551 424.4 -8.9 313 4549 0.00 0.00 0.00 0.000 6 0.000 0.000 2200 2559 3553 3555 3551 0 0 0 0 0 0 28.83 28.83 28.83

4847 -1.65 -146.0 2200 2559 3556 3551 450.5 -8.4 323 4848 0.00 0.00 0.00 0.000 6 0.000 0.000 2200 2560 3553 3556 3551 0 0 0 0 0 0 28.83 28.83 28.83

5147 -1.68 -146.0 2200 2559 3557 3552 473.1 -7.6 333 5153 0.00 2.45 0.00 0.000 516 0.000 0.109 2201 1149 3554 3557 3552 0 0 0 0 0 0 28.83 14.78 28.83

5205 -1.70 -146.0 2200 1149 3557 3552 477.9 -8.4 344 5211 0.00 2.53 0.00 0.000 1030 0.000 0.124 2195 2557 3554 3557 3552 0 0 0 0 0 0 28.83 14.77 28.83

5511 -1.70 -146.0 2195 2557 3557 3553 501.6 -7.9 355 5512 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2556 3555 3557 3553 0 0 0 0 0 0 28.83 28.83 28.83

5689 end dive: TARGET_DEPTH_EXCEEDED

state 5689 begin apogee

5693 -0.38 0.0 2194 2395 3557 3553 515.1 -7.6 361 5856 0.95 0.00 159.07 1.311 10246 0.246 0.000 2463 2395 2950 2972 2929 0 0 0 0 0 0 14.69 28.83 13.57

5858 end apogee: CONTROL_FINISHED_OK

state 5858 begin climb

5860 1.60 146.0 2463 2395 2962 2919 516.7 0.0 366 6031 1.40 2.92 159.93 1.218 10500 0.157 0.148 2896 3816 2344 2389 2299 0 0 0 0 0 0 14.03 13.86 13.45

6043 1.56 146.0 2896 3816 2381 2292 497.6 13.3 386 6048 0.00 2.58 0.00 0.000 1030 0.000 0.080 2905 2412 2336 2381 2291 0 0 0 0 0 0 28.83 13.99 28.83

6357 1.53 146.0 2906 2411 2375 2280 452.8 14.2 398 6359 0.10 0.00 0.00 0.000 4102 0.300 0.000 2888 2411 2329 2378 2280 0 0 0 0 0 0 14.31 28.83 28.83

6655 1.53 146.0 2887 2411 2374 2278 413.2 13.5 408 6657 0.00 0.00 0.00 0.000 6 0.000 0.000 2886 2412 2326 2374 2278 0 0 0 0 0 0 28.83 28.83 28.83

6956 1.53 146.0 2886 2411 2373 2278 373.3 13.7 418 6957 0.00 0.00 0.00 0.000 6 0.000 0.000 2885 2411 2324 2372 2277 0 0 0 0 0 0 28.83 28.83 28.83

7256 1.53 146.0 2886 2416 2374 2277 333.8 12.7 428 7257 0.00 0.00 0.00 0.000 6 0.000 0.000 2886 2411 2324 2373 2276 0 0 0 0 0 0 28.83 28.83 28.83

7556 1.53 146.0 2882 2411 2373 2276 296.1 12.6 438 7557 0.00 0.00 0.00 0.000 6 0.000 0.000 2885 2411 2324 2373 2276 0 0 0 0 0 0 28.83 28.83 28.83

7856 1.53 146.0 2886 2411 2373 2276 257.7 12.8 448 7861 0.00 2.65 0.00 0.000 260 0.000 0.145 2885 3810 2323 2371 2276 0 0 0 0 0 0 28.83 14.66 28.83

7883 1.50 146.0 2885 3810 2370 2279 254.0 14.1 453 7889 0.00 2.47 0.00 0.000 1030 0.000 0.081 2900 2391 2324 2370 2278 0 0 0 0 0 0 28.83 14.71 28.83

8199 1.50 146.0 2895 2390 2370 2278 212.1 13.6 469 8200 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 2390 2324 2370 2278 0 0 0 0 0 0 28.83 28.83 28.83

8499 1.50 146.0 2892 2391 2370 2279 172.5 12.7 484 8501 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2391 2324 2370 2278 0 0 0 0 0 0 28.83 28.83 28.83

8799 1.50 146.0 2895 2391 2370 2278 134.1 12.8 499 8805 0.00 2.70 0.00 0.000 260 0.000 0.145 2895 3816 2324 2370 2278 0 0 0 0 0 0 28.83 14.70 28.83

8837 1.46 146.0 2895 3816 2369 2279 128.6 14.2 506 8844 0.15 2.47 0.00 0.000 5126 0.281 0.080 2870 2389 2324 2370 2278 0 0 0 0 0 0 14.64 14.73 28.83

9142 1.48 146.0 2869 2389 2369 2279 94.9 10.7 522 9148 0.00 2.42 0.00 0.000 516 0.000 0.112 2879 996 2324 2370 2278 0 0 0 0 0 0 28.83 14.70 28.83

9180 1.51 146.0 2878 996 2370 2279 90.5 11.5 529 9187 0.00 2.50 0.00 0.000 1030 0.000 0.119 2877 2399 2326 2370 2282 0 0 0 0 0 0 28.83 14.71 28.83

9486 1.55 152.3 2879 2399 2370 2279 57.5 9.7 545 9491 0.00 2.47 0.00 0.000 516 0.000 0.112 2888 984 2324 2370 2279 0 0 0 0 0 0 28.83 14.71 28.83

9513 1.58 156.7 2888 984 2370 2279 54.8 9.8 550 9523 0.00 2.47 1.98 0.179 9222 0.000 0.116 2889 2403 2314 2357 2272 0 0 0 0 0 0 28.83 14.72 14.70

9831 1.62 188.8 2889 2403 2358 2287 24.9 8.5 568 9861 0.00 2.70 21.35 0.218 8452 0.000 0.146 2888 3806 2182 2222 2142 0 0 0 0 0 0 28.83 14.67 14.64

9894 1.62 188.8 2889 3806 2221 2152 18.5 11.7 580 9900 0.00 2.45 0.00 0.000 1030 0.000 0.080 2899 2391 2187 2222 2152 0 0 0 0 0 0 28.83 14.72 28.83

10036 end climb: SURFACE_DEPTH_REACHED

state 10036 begin surface coast

10057 end surface coast: CONTROL_FINISHED_OK

state 10057 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	148	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	350	R_STBD_OVSHOOT	15	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	020115,181604,6700.484,-5647.189,30,1.1,30,-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	1.96	MHEAD_RNG_PITCHd_Wd	25.9,4773,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-54.8	D_GRID	513
GPS2	020115,182235,6700.440,-5647.239,5,1.1,6,-32.5

FREEZE	1.56,-0.923,-1.702,0,1,0	SC_FREEKB	7722560
FINISH	1.6,1.025006	_24V_AH	13.45,33.275
SM_CCo	10074,90.00,0.160,0,0,1522,350.04	_10V_AH	13.32,0.000
SM_GC	2.59,7.68,0.32,90.00,0.084,0.151,0.160,202,2549,1522,-10.67,-0.40,350.04,0,0,0,0,0,0,14.76,14.69,14.60	FG_AHR_24Vo	0.000
RAFOS_CLK	426	FG_AHR_10Vo	0.000
RAFOS	0,1420228862,20.033333,20.017221,60,56,54,51,48,48,201,138,212,81,110,158	MEM	271004
RAFOS_FIX	6705.320312,-5658.294922,020115,161656,2,120,1.92	DATA_FILE_SIZE	20086,597
IRIDIUM_FIX	6631.12,-5658.34,020115,150338	CAP_FILE_SIZE	109646,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	260034560,242413568
HUMID	44.95	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.47912	INTR	0,11744.76,0x23769e,7,5
TCM_TEMP	13.60	SOUNDSPEED	1467.9
XPDR_PINGS	6	GPS	020115,211403,6701.919,-5646.891,41,1.0,46,-32.5
ALTIM_TOP_PING	19.8,17.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	466	129.77	nil	0	0	0.00
Roll_motor	75	166	169.74	nil	0	0	0.00
VBD_pump_during_apogee	342	1311	6037.17	nil	0	0	0.00
VBD_pump_during_surface	90	159	193.54	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	10072	7	952.48
Iridium_during_xfer	263	148	525.73	nil	0	0	0.00
Transponder_ping	1	420	9.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.74
TT8	1319	11	201.60
LPSleep	7300	2	224.63
TT8_Active	590	11	90.22
TT8_Sampling	1212	30	499.72
TT8_CF8	149	36	72.12
TT8_Kalman	0	0	0.00
Analog_circuits	1372	11	201.06
GPS_charging	0	0	0.00
Compass	896	6	71.67
RAFOS	2520	1	50.35
Transponder	2	30	1.05

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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-1.60	-146.0	201	2560	1518	1514	0.0	0.0	0	122	0.00	0.00	-101.15	0.000	16386	0.000	0.000	202	2560	3343	3319	3367	0	0	0	0	0	0	28.83	28.83	28.83
125	-1.60	-146.0	201	2560	3321	3366	3.6	-2.7	10	147	10.10	2.50	-5.72	0.000	18692	0.467	0.167	2186	3836	3549	3545	3554	0	0	0	0	0	0	14.32	14.48	14.72
314	-1.56	-146.0	2187	3836	3551	3554	31.0	-14.0	47	320	0.10	2.22	0.00	0.000	3078	0.319	0.063	2205	2534	3552	3551	3554	0	0	0	0	0	0	14.46	14.59	28.83
632	-1.56	-146.0	2205	2534	3551	3554	70.1	-12.6	65	633	0.00	0.00	0.00	0.000	6	0.000	0.000	2205	2534	3552	3551	3554	0	0	0	0	0	0	28.83	28.83	28.83
933	-1.56	-146.0	2205	2534	3551	3553	104.1	-10.2	80	938	0.00	2.40	0.00	0.000	516	0.000	0.099	2205	1144	3552	3551	3553	0	0	0	0	0	0	28.83	14.64	28.83
1050	-1.56	-146.0	2205	1144	3551	3549	117.0	-10.6	103	1057	0.00	2.50	0.00	0.000	1030	0.000	0.116	2199	2548	3552	3551	3553	0	0	0	0	0	0	28.83	14.64	28.83
1355	-1.56	-146.0	2199	2549	3551	3551	149.6	-10.1	119	1360	0.00	2.42	0.00	0.000	516	0.000	0.099	2199	1149	3551	3551	3551	0	0	0	0	0	0	28.83	14.68	28.83
1432	-1.56	-146.0	2199	1149	3551	3557	157.7	-10.7	134	1439	0.00	2.50	0.00	0.000	1030	0.000	0.116	2192	2559	3550	3551	3550	0	0	0	0	0	0	28.83	14.66	28.83
1738	-1.56	-146.0	2192	2554	3551	3549	186.9	-9.6	150	1743	0.00	2.42	0.00	0.000	516	0.000	0.099	2192	1151	3550	3551	3549	0	0	0	0	0	0	28.83	14.69	28.83
1801	-1.56	-146.0	2192	1151	3551	3549	192.8	-9.3	162	1807	0.10	2.47	0.00	0.000	3078	0.335	0.117	2205	2545	3550	3551	3549	0	0	0	0	0	0	14.59	14.69	28.83
2125	-1.56	-146.0	2205	2545	3551	3550	220.7	-8.3	181	2131	0.00	2.42	0.00	0.000	516	0.000	0.101	2206	1141	3550	3551	3549	0	0	0	0	0	0	28.83	14.71	28.83
2164	-1.56	-146.0	2206	1141	3551	3549	224.1	-9.2	188	2170	0.00	2.53	0.00	0.000	1030	0.000	0.119	2199	2557	3551	3553	3549	0	0	0	0	0	0	28.83	14.70	28.83
2468	-1.56	-146.0	2199	2557	3551	3549	249.6	-8.0	204	2470	0.00	0.00	0.00	0.000	6	0.000	0.000	2199	2557	3550	3551	3549	0	0	0	0	0	0	28.83	28.83	28.83
2789	-1.56	-146.0	2198	2557	3551	3550	274.6	-8.0	215	2790	0.00	0.00	0.00	0.000	6	0.000	0.000	2199	2557	3550	3551	3550	0	0	0	0	0	0	28.83	28.83	28.83
3088	-1.56	-146.0	2199	2557	3551	3550	300.1	-8.8	225	3094	0.00	2.42	0.00	0.000	516	0.000	0.103	2199	1150	3549	3551	3548	0	0	0	0	0	0	28.83	14.76	28.83
3171	-1.56	-146.0	2199	1150	3551	3550	307.7	-10.0	241	3176	0.00	2.50	0.00	0.000	1030	0.000	0.119	2192	2558	3550	3551	3550	0	0	0	0	0	0	28.83	14.74	28.83
3484	-1.56	-146.0	2193	2558	3559	3549	335.1	-8.5	253	3486	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2558	3549	3552	3547	0	0	0	0	0	0	28.83	28.83	28.83
3784	-1.56	-146.0	2193	2558	3553	3550	360.5	-8.6	263	3789	0.00	2.45	0.00	0.000	516	0.000	0.108	2193	1143	3551	3553	3550	0	0	0	0	0	0	28.83	14.76	28.83
3821	-1.56	-146.0	2193	1143	3552	3550	363.9	-9.0	270	3827	0.10	2.53	0.00	0.000	3078	0.337	0.123	2206	2560	3555	3553	3557	0	0	0	0	0	0	14.66	14.75	28.83
4151	-1.58	-146.0	2206	2559	3554	3550	390.3	-7.7	285	4156	0.00	2.45	0.00	0.000	516	0.000	0.108	2206	1147	3552	3554	3550	0	0	0	0	0	0	28.83	14.76	28.83
4228	-1.61	-146.0	2206	1147	3554	3550	396.8	-9.1	300	4234	0.00	2.53	0.00	0.000	1030	0.000	0.122	2200	2559	3552	3554	3551	0	0	0	0	0	0	28.83	14.76	28.83
4548	-1.63	-146.0	2200	2559	3556	3551	424.4	-8.9	313	4549	0.00	0.00	0.00	0.000	6	0.000	0.000	2200	2559	3553	3555	3551	0	0	0	0	0	0	28.83	28.83	28.83
4847	-1.65	-146.0	2200	2559	3556	3551	450.5	-8.4	323	4848	0.00	0.00	0.00	0.000	6	0.000	0.000	2200	2560	3553	3556	3551	0	0	0	0	0	0	28.83	28.83	28.83
5147	-1.68	-146.0	2200	2559	3557	3552	473.1	-7.6	333	5153	0.00	2.45	0.00	0.000	516	0.000	0.109	2201	1149	3554	3557	3552	0	0	0	0	0	0	28.83	14.78	28.83
5205	-1.70	-146.0	2200	1149	3557	3552	477.9	-8.4	344	5211	0.00	2.53	0.00	0.000	1030	0.000	0.124	2195	2557	3554	3557	3552	0	0	0	0	0	0	28.83	14.77	28.83
5511	-1.70	-146.0	2195	2557	3557	3553	501.6	-7.9	355	5512	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2556	3555	3557	3553	0	0	0	0	0	0	28.83	28.83	28.83
5689	end dive: TARGET_DEPTH_EXCEEDED
state	5689	begin apogee
5693	-0.38	0.0	2194	2395	3557	3553	515.1	-7.6	361	5856	0.95	0.00	159.07	1.311	10246	0.246	0.000	2463	2395	2950	2972	2929	0	0	0	0	0	0	14.69	28.83	13.57
5858	end apogee: CONTROL_FINISHED_OK
state	5858	begin climb
5860	1.60	146.0	2463	2395	2962	2919	516.7	0.0	366	6031	1.40	2.92	159.93	1.218	10500	0.157	0.148	2896	3816	2344	2389	2299	0	0	0	0	0	0	14.03	13.86	13.45
6043	1.56	146.0	2896	3816	2381	2292	497.6	13.3	386	6048	0.00	2.58	0.00	0.000	1030	0.000	0.080	2905	2412	2336	2381	2291	0	0	0	0	0	0	28.83	13.99	28.83
6357	1.53	146.0	2906	2411	2375	2280	452.8	14.2	398	6359	0.10	0.00	0.00	0.000	4102	0.300	0.000	2888	2411	2329	2378	2280	0	0	0	0	0	0	14.31	28.83	28.83
6655	1.53	146.0	2887	2411	2374	2278	413.2	13.5	408	6657	0.00	0.00	0.00	0.000	6	0.000	0.000	2886	2412	2326	2374	2278	0	0	0	0	0	0	28.83	28.83	28.83
6956	1.53	146.0	2886	2411	2373	2278	373.3	13.7	418	6957	0.00	0.00	0.00	0.000	6	0.000	0.000	2885	2411	2324	2372	2277	0	0	0	0	0	0	28.83	28.83	28.83
7256	1.53	146.0	2886	2416	2374	2277	333.8	12.7	428	7257	0.00	0.00	0.00	0.000	6	0.000	0.000	2886	2411	2324	2373	2276	0	0	0	0	0	0	28.83	28.83	28.83
7556	1.53	146.0	2882	2411	2373	2276	296.1	12.6	438	7557	0.00	0.00	0.00	0.000	6	0.000	0.000	2885	2411	2324	2373	2276	0	0	0	0	0	0	28.83	28.83	28.83
7856	1.53	146.0	2886	2411	2373	2276	257.7	12.8	448	7861	0.00	2.65	0.00	0.000	260	0.000	0.145	2885	3810	2323	2371	2276	0	0	0	0	0	0	28.83	14.66	28.83
7883	1.50	146.0	2885	3810	2370	2279	254.0	14.1	453	7889	0.00	2.47	0.00	0.000	1030	0.000	0.081	2900	2391	2324	2370	2278	0	0	0	0	0	0	28.83	14.71	28.83
8199	1.50	146.0	2895	2390	2370	2278	212.1	13.6	469	8200	0.00	0.00	0.00	0.000	6	0.000	0.000	2894	2390	2324	2370	2278	0	0	0	0	0	0	28.83	28.83	28.83
8499	1.50	146.0	2892	2391	2370	2279	172.5	12.7	484	8501	0.00	0.00	0.00	0.000	6	0.000	0.000	2895	2391	2324	2370	2278	0	0	0	0	0	0	28.83	28.83	28.83
8799	1.50	146.0	2895	2391	2370	2278	134.1	12.8	499	8805	0.00	2.70	0.00	0.000	260	0.000	0.145	2895	3816	2324	2370	2278	0	0	0	0	0	0	28.83	14.70	28.83
8837	1.46	146.0	2895	3816	2369	2279	128.6	14.2	506	8844	0.15	2.47	0.00	0.000	5126	0.281	0.080	2870	2389	2324	2370	2278	0	0	0	0	0	0	14.64	14.73	28.83
9142	1.48	146.0	2869	2389	2369	2279	94.9	10.7	522	9148	0.00	2.42	0.00	0.000	516	0.000	0.112	2879	996	2324	2370	2278	0	0	0	0	0	0	28.83	14.70	28.83
9180	1.51	146.0	2878	996	2370	2279	90.5	11.5	529	9187	0.00	2.50	0.00	0.000	1030	0.000	0.119	2877	2399	2326	2370	2282	0	0	0	0	0	0	28.83	14.71	28.83
9486	1.55	152.3	2879	2399	2370	2279	57.5	9.7	545	9491	0.00	2.47	0.00	0.000	516	0.000	0.112	2888	984	2324	2370	2279	0	0	0	0	0	0	28.83	14.71	28.83
9513	1.58	156.7	2888	984	2370	2279	54.8	9.8	550	9523	0.00	2.47	1.98	0.179	9222	0.000	0.116	2889	2403	2314	2357	2272	0	0	0	0	0	0	28.83	14.72	14.70
9831	1.62	188.8	2889	2403	2358	2287	24.9	8.5	568	9861	0.00	2.70	21.35	0.218	8452	0.000	0.146	2888	3806	2182	2222	2142	0	0	0	0	0	0	28.83	14.67	14.64
9894	1.62	188.8	2889	3806	2221	2152	18.5	11.7	580	9900	0.00	2.45	0.00	0.000	1030	0.000	0.080	2899	2391	2187	2222	2152	0	0	0	0	0	0	28.83	14.72	28.83
10036	end climb: SURFACE_DEPTH_REACHED
state	10036	begin surface coast
10057	end surface coast: CONTROL_FINISHED_OK
state	10057	begin surface