Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 195 * 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 195 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 24 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 -2 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 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 -2

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 24 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 0 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 195 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 110115,041144,6637.881,-6014.724,0,2096.0,0,-32.5 SPEED_LIMITS 0.173,0.262

_CALLS 3 TGT_NAME TARGET_W

_XMS_NAKs 0 TGT_LATLONG 6644.000,-6026.000

_XMS_TOUTs 0 TGT_RADIUS 10000.000

_SM_DEPTHo 3.86 MHEAD_RNG_PITCHd_Wd 356.4,14017,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -2.7 D_GRID 508

GPS2 110115,041144,6637.881,-6014.724,0,2096.0,0,-32.5

Post-dive calculations and measurements:

FREEZE 8.54,-1.776,-1.739,2,43,0 SC_FREEKB 7707520

FINISH1 8.5,1.025478,100 _24V_AH 13.22,46.893

FINISH2 6.5 _10V_AH 13.15,0.000

RAFOS_CLK 478 FG_AHR_24Vo 0.000

RAFOS 0,1420963268,8.033334,8.018888,77,66,65,53,51,48,585,185,218,146,133,114 FG_AHR_10Vo 0.000

RAFOS_FIX 6641.466309,-6009.285645,110115,080854,3,104,0.52 MEM 271140

IRIDIUM_FIX 6625.71,-5708.95,030115,111203 DATA_FILE_SIZE 23393,645

TT8_MAMPS 0.025466,0.025466 CAP_FILE_SIZE 108169,0

HUMID 48.11 CFSIZE 260034560,238678016

INTERNAL_PRESSURE 8.45959 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

TCM_TEMP 12.10 SOUNDSPEED 1449.7

XPDR_PINGS 2 GPS 110115,081954,6641.466,-6009.286,0,3103.7,0,-32.5

ALTIM_TOP_PING 18.9,15.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 340 25.31 nil 0 0 0.00

Roll_motor 94 168 211.03 nil 0 0 0.00

VBD_pump_during_apogee 459 1311 7964.51 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9938 6 918.22

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 4.16 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1360 11 205.19

LPSleep 6969 2 211.70

TT8_Active 555 11 83.78

TT8_Sampling 1035 30 421.41

TT8_CF8 115 36 54.96

TT8_Kalman 0 0 0.00

Analog_circuits 1127 11 163.06

GPS_charging 0 0 0.00

Compass 962 6 75.94

RAFOS 2520 1 49.71

Transponder 2 30 1.03

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 2580 2547 2556 2533 0.0 0.0 0 33 0.00 0.00 -12.07 0.000 16386 0.000 0.000 2580 2547 2767 2776 2758 0 0 0 0 0 0 28.83 28.83 28.83

35 -1.60 -146.0 2580 2546 2775 2759 3.1 0.0 1 80 1.15 2.53 -34.42 0.000 20740 0.132 0.168 2191 3836 3549 3537 3561 0 0 0 0 0 0 14.51 14.47 14.74

113 -1.53 -146.0 2190 3836 3540 3562 11.0 -13.6 16 121 0.12 2.22 0.00 0.000 3078 0.329 0.065 2214 2542 3551 3540 3562 0 0 0 0 0 0 14.39 14.55 28.83

418 -1.50 -146.0 2214 2541 3543 3562 59.9 -14.5 36 424 0.00 2.47 0.00 0.000 260 0.000 0.147 2205 3841 3552 3543 3562 0 0 0 0 0 0 28.83 14.52 28.83

461 -1.46 -146.0 2205 3841 3544 3562 66.5 -15.0 44 468 0.12 2.22 0.00 0.000 3078 0.318 0.063 2230 2539 3552 3543 3562 0 0 0 0 0 0 14.45 14.61 28.83

785 -1.46 -146.0 2230 2538 3544 3562 102.9 -10.3 63 786 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2539 3551 3544 3559 0 0 0 0 0 0 28.83 28.83 28.83

1086 -1.46 -146.0 2231 2539 3543 3561 141.0 -14.1 78 1091 0.00 2.42 0.00 0.000 516 0.000 0.106 2230 1148 3552 3544 3561 0 0 0 0 0 0 28.83 14.60 28.83

1149 -1.46 -146.0 2230 1149 3544 3561 149.6 -13.4 90 1154 0.00 2.55 0.00 0.000 1030 0.000 0.122 2224 2554 3552 3544 3561 0 0 0 0 0 0 28.83 14.60 28.83

1472 -1.46 -146.0 2224 2554 3544 3561 186.7 -12.3 109 1473 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2554 3552 3544 3561 0 0 0 0 0 0 28.83 28.83 28.83

1773 -1.46 -146.0 2224 2554 3544 3560 220.0 -9.5 124 1779 0.00 2.47 0.00 0.000 516 0.000 0.103 2224 1140 3552 3544 3560 0 0 0 0 0 0 28.83 14.62 28.83

1845 -1.46 -146.0 2223 1140 3544 3560 226.8 -9.5 138 1851 0.00 2.55 0.00 0.000 1030 0.000 0.121 2216 2554 3552 3544 3560 0 0 0 0 0 0 28.83 14.63 28.83

2169 -1.46 -146.0 2217 2553 3539 3560 259.0 -9.6 154 2170 0.00 0.00 0.00 0.000 6 0.000 0.000 2216 2554 3551 3544 3559 0 0 0 0 0 0 28.83 28.83 28.83

2469 -1.46 -146.0 2216 2554 3544 3559 288.0 -9.9 164 2474 0.00 2.42 0.00 0.000 260 0.000 0.145 2207 3843 3551 3544 3559 0 0 0 0 0 0 28.83 14.63 28.83

2536 -1.46 -146.0 2207 3843 3544 3559 295.1 -10.3 177 2542 0.10 2.20 0.00 0.000 3078 0.311 0.062 2225 2547 3551 3544 3559 0 0 0 0 0 0 14.56 14.71 28.83

2866 -1.50 -146.0 2226 2546 3544 3559 321.5 -8.2 192 2871 0.00 2.42 0.00 0.000 516 0.000 0.103 2226 1146 3551 3544 3559 0 0 0 0 0 0 28.83 14.66 28.83

2985 -1.54 -146.0 2227 1146 3544 3559 332.6 -9.1 215 2991 0.00 2.53 0.00 0.000 1030 0.000 0.121 2220 2549 3551 3543 3559 0 0 0 0 0 0 28.83 14.66 28.83

3291 -1.57 -146.0 2219 2549 3544 3559 359.9 -8.9 226 3296 0.00 2.45 0.00 0.000 516 0.000 0.101 2220 1140 3551 3544 3559 0 0 0 0 0 0 28.83 14.66 28.83

3333 -1.60 -146.0 2220 1139 3543 3559 364.1 -9.8 234 3339 0.00 2.53 0.00 0.000 1030 0.000 0.118 2212 2549 3551 3544 3559 0 0 0 0 0 0 28.83 14.66 28.83

3658 -1.62 -146.0 2212 2549 3544 3559 395.6 -9.6 248 3664 0.00 2.45 0.00 0.000 516 0.000 0.106 2212 1145 3552 3545 3559 0 0 0 0 0 0 28.83 14.66 28.83

3711 -1.65 -146.0 2212 1146 3544 3554 400.8 -9.5 258 3716 0.00 2.53 0.00 0.000 1030 0.000 0.120 2206 2550 3551 3543 3559 0 0 0 0 0 0 28.83 14.66 28.83

4026 -1.67 -146.0 2206 2550 3544 3559 428.7 -8.6 270 4031 0.00 2.40 0.00 0.000 260 0.000 0.142 2196 3840 3551 3544 3559 0 0 0 0 0 0 28.83 14.64 28.83

4068 -1.67 -146.0 2197 3841 3544 3559 432.8 -9.3 278 4073 0.00 2.20 0.00 0.000 1030 0.000 0.060 2196 2539 3551 3544 3559 0 0 0 0 0 0 28.83 14.72 28.83

4392 -1.67 -146.0 2197 2540 3546 3559 460.0 -8.2 292 4393 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2539 3551 3545 3558 0 0 0 0 0 0 28.83 28.83 28.83

4691 -1.67 -146.0 2197 2539 3546 3559 484.7 -8.3 302 4697 0.00 2.42 0.00 0.000 516 0.000 0.111 2197 1148 3552 3546 3559 0 0 0 0 0 0 28.83 14.67 28.83

4743 -1.67 -146.0 2197 1148 3546 3559 489.1 -7.8 312 4748 0.00 2.53 0.00 0.000 1030 0.000 0.124 2190 2549 3553 3547 3559 0 0 0 0 0 0 28.83 14.67 28.83

4994 end dive: TARGET_DEPTH_EXCEEDED

state 4994 begin apogee

4999 -0.38 0.0 2190 2393 3547 3559 510.1 -8.5 322 5187 1.00 0.00 183.95 1.312 10246 0.267 0.000 2461 2393 2950 2970 2931 0 0 0 0 0 0 14.57 28.83 13.43

5189 end apogee: CONTROL_FINISHED_OK

state 5189 begin climb

5191 1.60 146.0 2462 2393 2960 2921 514.4 0.0 328 5379 1.45 0.00 181.52 1.206 10758 0.171 0.000 2895 2393 2355 2398 2312 0 0 0 0 0 0 13.89 28.83 13.22

5657 1.60 146.0 2896 2393 2370 2277 463.4 12.4 364 5658 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2393 2323 2370 2277 0 0 0 0 0 0 28.83 28.83 28.83

5957 1.60 146.0 2895 2391 2369 2275 427.2 11.9 374 5958 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2392 2322 2369 2276 0 0 0 0 0 0 28.83 28.83 28.83

6257 1.60 146.0 2895 2393 2368 2275 394.3 10.6 384 6258 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2393 2321 2368 2275 0 0 0 0 0 0 28.83 28.83 28.83

6557 1.60 146.0 2896 2389 2368 2275 362.0 10.8 394 6562 0.00 2.50 0.00 0.000 516 0.000 0.122 2905 1001 2321 2368 2275 0 0 0 0 0 0 28.83 14.50 28.83

6599 1.60 146.0 2905 1000 2368 2275 357.2 11.8 402 6604 0.00 2.58 0.00 0.000 1030 0.000 0.126 2905 2402 2321 2368 2275 0 0 0 0 0 0 28.83 14.50 28.83

6924 1.58 146.0 2905 2402 2368 2274 317.6 13.1 416 6929 0.00 2.53 0.00 0.000 516 0.000 0.118 2912 998 2321 2368 2275 0 0 0 0 0 0 28.83 14.54 28.83

6980 1.58 146.0 2913 998 2368 2275 309.9 12.9 427 6987 0.00 2.58 0.00 0.000 1030 0.000 0.124 2913 2408 2321 2368 2275 0 0 0 0 0 0 28.83 14.54 28.83

7288 1.55 146.0 2913 2408 2368 2275 274.3 11.2 438 7294 0.12 2.70 0.00 0.000 4356 0.291 0.148 2881 3817 2322 2369 2275 0 0 0 0 0 0 14.51 14.56 28.83

7383 1.53 146.0 2881 3817 2368 2275 262.7 11.9 456 7389 0.00 2.45 0.00 0.000 1030 0.000 0.081 2890 2406 2321 2368 2274 0 0 0 0 0 0 28.83 14.59 28.83

7706 1.56 166.7 2890 2406 2368 2274 230.9 9.1 475 7731 0.00 0.00 17.55 1.086 8198 0.000 0.000 2890 2402 2268 2311 2226 0 0 0 0 1 0 28.83 28.83 14.07

8027 1.59 174.5 2890 2406 2308 2221 197.4 9.6 491 8037 0.00 2.72 3.60 0.821 8452 0.000 0.148 2890 3811 2240 2282 2199 0 0 0 0 0 0 28.83 14.53 13.90

8074 1.61 193.3 2891 3812 2282 2210 193.0 9.1 500 8110 0.00 2.50 23.88 1.106 9222 0.000 0.081 2899 2392 2161 2202 2121 0 0 0 0 1 0 28.83 14.57 13.87

8411 1.64 193.3 2899 2392 2204 2137 159.6 10.2 522 8416 0.00 2.50 0.00 0.000 516 0.000 0.116 2908 992 2170 2204 2137 0 0 0 0 0 0 28.83 14.50 28.83

8478 1.68 198.4 2908 992 2204 2137 153.1 9.8 535 8489 0.00 2.60 4.82 0.981 9222 0.000 0.124 2908 2401 2140 2178 2103 0 0 0 0 0 0 28.83 14.50 13.84

8797 1.73 203.1 2908 2401 2186 2123 122.1 9.8 553 8807 0.00 2.72 5.38 1.015 8452 0.000 0.148 2908 3810 2127 2163 2091 0 0 0 0 0 0 28.83 14.50 13.97

8869 1.73 203.1 2908 3810 2168 2109 114.4 11.0 567 8880 0.00 2.50 2.55 0.525 9222 0.000 0.080 2920 2395 2124 2159 2089 0 0 0 0 0 0 28.83 14.54 13.84

9180 1.81 244.1 2916 2395 2168 2104 87.4 8.1 584 9215 0.10 2.53 28.05 0.396 10756 0.178 0.113 2962 984 1955 1997 1914 0 0 0 0 0 0 14.59 14.49 14.31

9242 1.81 246.5 2962 984 1997 1924 81.8 9.9 596 9252 0.00 2.60 2.62 0.259 9222 0.000 0.122 2962 2402 1949 1983 1916 0 0 0 0 0 0 28.83 14.48 14.30

9565 1.81 246.5 2962 2403 2000 1926 46.3 10.9 615 9569 0.00 0.00 2.83 0.190 8198 0.000 0.000 2962 2403 1945 1986 1905 0 0 0 0 0 0 28.83 28.83 14.49

9865 1.81 246.5 2962 2403 1997 1925 10.4 10.6 636 9877 0.10 2.60 2.45 0.181 12804 0.340 0.120 2952 990 1945 1984 1907 0 0 0 0 0 0 14.48 14.53 14.52

9882 end climb: FINISH_DEPTH_REACHED

state 9882 begin subsurface finish

9891 0.12 99.9 2953 2404 1986 1913 8.5 9.6 639 9922 1.35 2.55 -22.73 0.000 20996 0.259 0.138 2577 987 2547 2565 2529 0 0 0 0 0 0 14.47 14.54 14.79

9923 end subsurface finish: CONTROL_FINISHED_OK

state 9923 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	195	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	24	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	-2	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	110115,041144,6637.881,-6014.724,0,2096.0,0,-32.5	SPEED_LIMITS	0.173,0.262
_CALLS	3	TGT_NAME	TARGET_W
_XMS_NAKs	0	TGT_LATLONG	6644.000,-6026.000
_XMS_TOUTs	0	TGT_RADIUS	10000.000
_SM_DEPTHo	3.86	MHEAD_RNG_PITCHd_Wd	356.4,14017,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-2.7	D_GRID	508
GPS2	110115,041144,6637.881,-6014.724,0,2096.0,0,-32.5

FREEZE	8.54,-1.776,-1.739,2,43,0	SC_FREEKB	7707520
FINISH1	8.5,1.025478,100	_24V_AH	13.22,46.893
FINISH2	6.5	_10V_AH	13.15,0.000
RAFOS_CLK	478	FG_AHR_24Vo	0.000
RAFOS	0,1420963268,8.033334,8.018888,77,66,65,53,51,48,585,185,218,146,133,114	FG_AHR_10Vo	0.000
RAFOS_FIX	6641.466309,-6009.285645,110115,080854,3,104,0.52	MEM	271140
IRIDIUM_FIX	6625.71,-5708.95,030115,111203	DATA_FILE_SIZE	23393,645
TT8_MAMPS	0.025466,0.025466	CAP_FILE_SIZE	108169,0
HUMID	48.11	CFSIZE	260034560,238678016
INTERNAL_PRESSURE	8.45959	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
TCM_TEMP	12.10	SOUNDSPEED	1449.7
XPDR_PINGS	2	GPS	110115,081954,6641.466,-6009.286,0,3103.7,0,-32.5
ALTIM_TOP_PING	18.9,15.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	340	25.31	nil	0	0	0.00
Roll_motor	94	168	211.03	nil	0	0	0.00
VBD_pump_during_apogee	459	1311	7964.51	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9938	6	918.22
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	4.16	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1360	11	205.19
LPSleep	6969	2	211.70
TT8_Active	555	11	83.78
TT8_Sampling	1035	30	421.41
TT8_CF8	115	36	54.96
TT8_Kalman	0	0	0.00
Analog_circuits	1127	11	163.06
GPS_charging	0	0	0.00
Compass	962	6	75.94
RAFOS	2520	1	49.71
Transponder	2	30	1.03

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	2580	2547	2556	2533	0.0	0.0	0	33	0.00	0.00	-12.07	0.000	16386	0.000	0.000	2580	2547	2767	2776	2758	0	0	0	0	0	0	28.83	28.83	28.83
35	-1.60	-146.0	2580	2546	2775	2759	3.1	0.0	1	80	1.15	2.53	-34.42	0.000	20740	0.132	0.168	2191	3836	3549	3537	3561	0	0	0	0	0	0	14.51	14.47	14.74
113	-1.53	-146.0	2190	3836	3540	3562	11.0	-13.6	16	121	0.12	2.22	0.00	0.000	3078	0.329	0.065	2214	2542	3551	3540	3562	0	0	0	0	0	0	14.39	14.55	28.83
418	-1.50	-146.0	2214	2541	3543	3562	59.9	-14.5	36	424	0.00	2.47	0.00	0.000	260	0.000	0.147	2205	3841	3552	3543	3562	0	0	0	0	0	0	28.83	14.52	28.83
461	-1.46	-146.0	2205	3841	3544	3562	66.5	-15.0	44	468	0.12	2.22	0.00	0.000	3078	0.318	0.063	2230	2539	3552	3543	3562	0	0	0	0	0	0	14.45	14.61	28.83
785	-1.46	-146.0	2230	2538	3544	3562	102.9	-10.3	63	786	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2539	3551	3544	3559	0	0	0	0	0	0	28.83	28.83	28.83
1086	-1.46	-146.0	2231	2539	3543	3561	141.0	-14.1	78	1091	0.00	2.42	0.00	0.000	516	0.000	0.106	2230	1148	3552	3544	3561	0	0	0	0	0	0	28.83	14.60	28.83
1149	-1.46	-146.0	2230	1149	3544	3561	149.6	-13.4	90	1154	0.00	2.55	0.00	0.000	1030	0.000	0.122	2224	2554	3552	3544	3561	0	0	0	0	0	0	28.83	14.60	28.83
1472	-1.46	-146.0	2224	2554	3544	3561	186.7	-12.3	109	1473	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2554	3552	3544	3561	0	0	0	0	0	0	28.83	28.83	28.83
1773	-1.46	-146.0	2224	2554	3544	3560	220.0	-9.5	124	1779	0.00	2.47	0.00	0.000	516	0.000	0.103	2224	1140	3552	3544	3560	0	0	0	0	0	0	28.83	14.62	28.83
1845	-1.46	-146.0	2223	1140	3544	3560	226.8	-9.5	138	1851	0.00	2.55	0.00	0.000	1030	0.000	0.121	2216	2554	3552	3544	3560	0	0	0	0	0	0	28.83	14.63	28.83
2169	-1.46	-146.0	2217	2553	3539	3560	259.0	-9.6	154	2170	0.00	0.00	0.00	0.000	6	0.000	0.000	2216	2554	3551	3544	3559	0	0	0	0	0	0	28.83	28.83	28.83
2469	-1.46	-146.0	2216	2554	3544	3559	288.0	-9.9	164	2474	0.00	2.42	0.00	0.000	260	0.000	0.145	2207	3843	3551	3544	3559	0	0	0	0	0	0	28.83	14.63	28.83
2536	-1.46	-146.0	2207	3843	3544	3559	295.1	-10.3	177	2542	0.10	2.20	0.00	0.000	3078	0.311	0.062	2225	2547	3551	3544	3559	0	0	0	0	0	0	14.56	14.71	28.83
2866	-1.50	-146.0	2226	2546	3544	3559	321.5	-8.2	192	2871	0.00	2.42	0.00	0.000	516	0.000	0.103	2226	1146	3551	3544	3559	0	0	0	0	0	0	28.83	14.66	28.83
2985	-1.54	-146.0	2227	1146	3544	3559	332.6	-9.1	215	2991	0.00	2.53	0.00	0.000	1030	0.000	0.121	2220	2549	3551	3543	3559	0	0	0	0	0	0	28.83	14.66	28.83
3291	-1.57	-146.0	2219	2549	3544	3559	359.9	-8.9	226	3296	0.00	2.45	0.00	0.000	516	0.000	0.101	2220	1140	3551	3544	3559	0	0	0	0	0	0	28.83	14.66	28.83
3333	-1.60	-146.0	2220	1139	3543	3559	364.1	-9.8	234	3339	0.00	2.53	0.00	0.000	1030	0.000	0.118	2212	2549	3551	3544	3559	0	0	0	0	0	0	28.83	14.66	28.83
3658	-1.62	-146.0	2212	2549	3544	3559	395.6	-9.6	248	3664	0.00	2.45	0.00	0.000	516	0.000	0.106	2212	1145	3552	3545	3559	0	0	0	0	0	0	28.83	14.66	28.83
3711	-1.65	-146.0	2212	1146	3544	3554	400.8	-9.5	258	3716	0.00	2.53	0.00	0.000	1030	0.000	0.120	2206	2550	3551	3543	3559	0	0	0	0	0	0	28.83	14.66	28.83
4026	-1.67	-146.0	2206	2550	3544	3559	428.7	-8.6	270	4031	0.00	2.40	0.00	0.000	260	0.000	0.142	2196	3840	3551	3544	3559	0	0	0	0	0	0	28.83	14.64	28.83
4068	-1.67	-146.0	2197	3841	3544	3559	432.8	-9.3	278	4073	0.00	2.20	0.00	0.000	1030	0.000	0.060	2196	2539	3551	3544	3559	0	0	0	0	0	0	28.83	14.72	28.83
4392	-1.67	-146.0	2197	2540	3546	3559	460.0	-8.2	292	4393	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2539	3551	3545	3558	0	0	0	0	0	0	28.83	28.83	28.83
4691	-1.67	-146.0	2197	2539	3546	3559	484.7	-8.3	302	4697	0.00	2.42	0.00	0.000	516	0.000	0.111	2197	1148	3552	3546	3559	0	0	0	0	0	0	28.83	14.67	28.83
4743	-1.67	-146.0	2197	1148	3546	3559	489.1	-7.8	312	4748	0.00	2.53	0.00	0.000	1030	0.000	0.124	2190	2549	3553	3547	3559	0	0	0	0	0	0	28.83	14.67	28.83
4994	end dive: TARGET_DEPTH_EXCEEDED
state	4994	begin apogee
4999	-0.38	0.0	2190	2393	3547	3559	510.1	-8.5	322	5187	1.00	0.00	183.95	1.312	10246	0.267	0.000	2461	2393	2950	2970	2931	0	0	0	0	0	0	14.57	28.83	13.43
5189	end apogee: CONTROL_FINISHED_OK
state	5189	begin climb
5191	1.60	146.0	2462	2393	2960	2921	514.4	0.0	328	5379	1.45	0.00	181.52	1.206	10758	0.171	0.000	2895	2393	2355	2398	2312	0	0	0	0	0	0	13.89	28.83	13.22
5657	1.60	146.0	2896	2393	2370	2277	463.4	12.4	364	5658	0.00	0.00	0.00	0.000	6	0.000	0.000	2895	2393	2323	2370	2277	0	0	0	0	0	0	28.83	28.83	28.83
5957	1.60	146.0	2895	2391	2369	2275	427.2	11.9	374	5958	0.00	0.00	0.00	0.000	6	0.000	0.000	2895	2392	2322	2369	2276	0	0	0	0	0	0	28.83	28.83	28.83
6257	1.60	146.0	2895	2393	2368	2275	394.3	10.6	384	6258	0.00	0.00	0.00	0.000	6	0.000	0.000	2895	2393	2321	2368	2275	0	0	0	0	0	0	28.83	28.83	28.83
6557	1.60	146.0	2896	2389	2368	2275	362.0	10.8	394	6562	0.00	2.50	0.00	0.000	516	0.000	0.122	2905	1001	2321	2368	2275	0	0	0	0	0	0	28.83	14.50	28.83
6599	1.60	146.0	2905	1000	2368	2275	357.2	11.8	402	6604	0.00	2.58	0.00	0.000	1030	0.000	0.126	2905	2402	2321	2368	2275	0	0	0	0	0	0	28.83	14.50	28.83
6924	1.58	146.0	2905	2402	2368	2274	317.6	13.1	416	6929	0.00	2.53	0.00	0.000	516	0.000	0.118	2912	998	2321	2368	2275	0	0	0	0	0	0	28.83	14.54	28.83
6980	1.58	146.0	2913	998	2368	2275	309.9	12.9	427	6987	0.00	2.58	0.00	0.000	1030	0.000	0.124	2913	2408	2321	2368	2275	0	0	0	0	0	0	28.83	14.54	28.83
7288	1.55	146.0	2913	2408	2368	2275	274.3	11.2	438	7294	0.12	2.70	0.00	0.000	4356	0.291	0.148	2881	3817	2322	2369	2275	0	0	0	0	0	0	14.51	14.56	28.83
7383	1.53	146.0	2881	3817	2368	2275	262.7	11.9	456	7389	0.00	2.45	0.00	0.000	1030	0.000	0.081	2890	2406	2321	2368	2274	0	0	0	0	0	0	28.83	14.59	28.83
7706	1.56	166.7	2890	2406	2368	2274	230.9	9.1	475	7731	0.00	0.00	17.55	1.086	8198	0.000	0.000	2890	2402	2268	2311	2226	0	0	0	0	1	0	28.83	28.83	14.07
8027	1.59	174.5	2890	2406	2308	2221	197.4	9.6	491	8037	0.00	2.72	3.60	0.821	8452	0.000	0.148	2890	3811	2240	2282	2199	0	0	0	0	0	0	28.83	14.53	13.90
8074	1.61	193.3	2891	3812	2282	2210	193.0	9.1	500	8110	0.00	2.50	23.88	1.106	9222	0.000	0.081	2899	2392	2161	2202	2121	0	0	0	0	1	0	28.83	14.57	13.87
8411	1.64	193.3	2899	2392	2204	2137	159.6	10.2	522	8416	0.00	2.50	0.00	0.000	516	0.000	0.116	2908	992	2170	2204	2137	0	0	0	0	0	0	28.83	14.50	28.83
8478	1.68	198.4	2908	992	2204	2137	153.1	9.8	535	8489	0.00	2.60	4.82	0.981	9222	0.000	0.124	2908	2401	2140	2178	2103	0	0	0	0	0	0	28.83	14.50	13.84
8797	1.73	203.1	2908	2401	2186	2123	122.1	9.8	553	8807	0.00	2.72	5.38	1.015	8452	0.000	0.148	2908	3810	2127	2163	2091	0	0	0	0	0	0	28.83	14.50	13.97
8869	1.73	203.1	2908	3810	2168	2109	114.4	11.0	567	8880	0.00	2.50	2.55	0.525	9222	0.000	0.080	2920	2395	2124	2159	2089	0	0	0	0	0	0	28.83	14.54	13.84
9180	1.81	244.1	2916	2395	2168	2104	87.4	8.1	584	9215	0.10	2.53	28.05	0.396	10756	0.178	0.113	2962	984	1955	1997	1914	0	0	0	0	0	0	14.59	14.49	14.31
9242	1.81	246.5	2962	984	1997	1924	81.8	9.9	596	9252	0.00	2.60	2.62	0.259	9222	0.000	0.122	2962	2402	1949	1983	1916	0	0	0	0	0	0	28.83	14.48	14.30
9565	1.81	246.5	2962	2403	2000	1926	46.3	10.9	615	9569	0.00	0.00	2.83	0.190	8198	0.000	0.000	2962	2403	1945	1986	1905	0	0	0	0	0	0	28.83	28.83	14.49
9865	1.81	246.5	2962	2403	1997	1925	10.4	10.6	636	9877	0.10	2.60	2.45	0.181	12804	0.340	0.120	2952	990	1945	1984	1907	0	0	0	0	0	0	14.48	14.53	14.52
9882	end climb: FINISH_DEPTH_REACHED
state	9882	begin subsurface finish
9891	0.12	99.9	2953	2404	1986	1913	8.5	9.6	639	9922	1.35	2.55	-22.73	0.000	20996	0.259	0.138	2577	987	2547	2565	2529	0	0	0	0	0	0	14.47	14.54	14.79
9923	end subsurface finish: CONTROL_FINISHED_OK
state	9923	begin surface