Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 235 * 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 235 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 25 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 25 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 235 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 180115,135929,6706.787,-5703.425,38,1.7,39,-32.7 SPEED_LIMITS 0.173,0.262

_CALLS 2 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 1.92 MHEAD_RNG_PITCHd_Wd 158.1,13343,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -45.8 D_GRID 506

GPS2 180115,142024,6707.176,-5703.056,38,1.8,38,-32.7

Post-dive calculations and measurements:

FREEZE 1.53,-1.327,-1.789,0,1,0 SC_FREEKB 7694880

FINISH 1.5,1.026254 _24V_AH 13.43,57.846

SM_CCo 9685,110.15,0.151,0,0,1523,350.04 _10V_AH 13.70,0.000

SM_GC 2.33,7.68,0.32,110.15,0.083,0.139,0.151,209,2556,1523,-10.66,-0.34,350.04,0,0,0,0,0,0,14.75,14.67,14.56 FG_AHR_24Vo 0.000

RAFOS_CLK 409 FG_AHR_10Vo 0.000

RAFOS 0,1421596874,16.033333,16.020555,69,61,54,53,50,49,216,182,139,163,121,195 MEM 270960

RAFOS_FIX 6701.163574,-5728.308594,170115,040444,3,122,0.81 DATA_FILE_SIZE 26761,729

IRIDIUM_FIX 6631.12,-5617.06,180115,140309 CAP_FILE_SIZE 125318,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260034560,235536384

HUMID 44.88 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.46935 INTR 0,13270.56,0x23769e,7,5

TCM_TEMP 13.40 SOUNDSPEED 1468.2

XPDR_PINGS 1 GPS 180115,170534,6707.729,-5702.871,30,1.2,30,-32.7

ALTIM_TOP_PING 19.8,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 491 142.80 nil 0 0 0.00

Roll_motor 101 164 223.60 nil 0 0 0.00

VBD_pump_during_apogee 327 1285 5650.48 nil 0 0 0.00

VBD_pump_during_surface 110 150 222.94 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 9684 7 928.86

Iridium_during_xfer 945 163 2077.87 nil 0 0 0.00

Transponder_ping 0 420 2.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 39 30 16.21

TT8 1497 11 235.29

LPSleep 6509 2 206.01

TT8_Active 670 11 105.29

TT8_Sampling 2107 30 893.34

TT8_CF8 282 36 140.00

TT8_Kalman 0 0 0.00

Analog_circuits 2230 11 336.15

GPS_charging 0 0 0.00

Compass 1080 6 88.82

RAFOS 2520 1 51.79

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -1.60 -146.0 192 2541 518 480 0.0 0.0 0 183 0.00 0.00 -161.52 0.000 16386 0.000 0.000 190 2541 3319 3288 3351 0 0 0 0 0 0 28.83 28.83 28.83

186 -1.60 -146.0 190 2541 3289 3352 3.3 -2.2 16 213 10.95 2.55 -7.22 0.000 18692 0.491 0.164 2187 3837 3549 3537 3561 0 0 0 0 0 0 14.21 14.36 14.66

295 -1.50 -146.0 2187 3837 3541 3560 19.5 -12.4 37 302 0.15 2.20 0.00 0.000 3078 0.327 0.056 2218 2541 3550 3541 3560 0 0 0 0 0 0 14.28 14.51 28.83

601 -1.47 -146.0 2218 2541 3544 3561 65.4 -14.5 55 606 0.00 2.45 0.00 0.000 260 0.000 0.139 2209 3836 3551 3543 3560 0 0 0 0 0 0 28.83 14.49 28.83

833 -1.47 -146.0 2209 3836 3543 3560 93.9 -12.9 101 838 0.00 2.17 0.00 0.000 1030 0.000 0.057 2209 2552 3552 3544 3560 0 0 0 0 0 0 28.83 14.61 28.83

1145 -1.47 -146.0 2209 2551 3543 3559 130.8 -11.3 118 1151 0.00 2.45 0.00 0.000 516 0.000 0.102 2209 1141 3551 3544 3558 0 0 0 0 0 0 28.83 14.57 28.83

1263 -1.47 -146.0 2209 1141 3543 3557 143.8 -11.0 141 1271 0.12 2.53 0.00 0.000 3078 0.324 0.116 2227 2549 3550 3543 3558 0 0 0 0 0 0 14.45 14.58 28.83

1569 -1.50 -146.0 2227 2549 3543 3557 172.3 -8.8 157 1574 0.00 2.45 0.00 0.000 516 0.000 0.103 2228 1145 3554 3549 3559 0 0 0 0 0 0 28.83 14.60 28.83

1747 -1.54 -146.0 2228 1145 3539 3557 188.5 -8.4 192 1753 0.00 2.53 0.00 0.000 1030 0.000 0.116 2221 2552 3550 3543 3557 0 0 0 0 0 0 28.83 14.61 28.83

2053 -1.56 -146.0 2221 2552 3544 3557 215.6 -9.1 208 2058 0.00 2.45 0.00 0.000 516 0.000 0.103 2221 1147 3550 3544 3557 0 0 0 0 0 0 28.83 14.62 28.83

2176 -1.59 -146.0 2221 1146 3545 3557 227.0 -9.5 232 2182 0.00 2.53 0.00 0.000 1030 0.000 0.116 2215 2549 3551 3545 3557 0 0 0 0 0 0 28.83 14.63 28.83

2500 -1.62 -146.0 2215 2550 3546 3557 255.4 -8.6 250 2505 0.00 2.45 0.00 0.000 516 0.000 0.105 2214 1143 3552 3546 3558 0 0 0 0 0 0 28.83 14.64 28.83

2625 -1.64 -146.0 2214 1143 3547 3558 266.3 -8.9 274 2630 0.00 2.53 0.00 0.000 1030 0.000 0.118 2208 2552 3552 3547 3558 0 0 0 0 0 0 28.83 14.64 28.83

2960 -1.66 -146.0 2208 2552 3549 3558 295.0 -8.6 290 2965 0.00 2.47 0.00 0.000 516 0.000 0.106 2208 1139 3554 3549 3559 0 0 0 0 0 0 28.83 14.65 28.83

3027 -1.66 -146.0 2208 1141 3549 3559 301.4 -8.8 303 3033 0.00 2.55 0.00 0.000 1030 0.000 0.121 2201 2558 3554 3549 3559 0 0 0 0 0 0 28.83 14.63 28.83

3357 -1.66 -146.0 2202 2558 3551 3559 330.9 -9.2 318 3362 0.00 2.47 0.00 0.000 516 0.000 0.109 2201 1144 3555 3551 3559 0 0 0 0 0 0 28.83 14.66 28.83

3420 -1.66 -146.0 2201 1144 3550 3559 337.4 -10.1 330 3425 0.00 2.55 0.00 0.000 1030 0.000 0.121 2195 2559 3555 3551 3560 0 0 0 0 0 0 28.83 14.66 28.83

3754 -1.66 -146.0 2195 2560 3551 3560 370.6 -9.5 346 3760 0.00 2.47 0.00 0.000 516 0.000 0.110 2190 1148 3553 3546 3560 0 0 0 0 0 0 28.83 14.66 28.83

3812 -1.66 -146.0 2194 1148 3551 3560 376.2 -9.8 357 3818 0.00 2.53 0.00 0.000 1030 0.000 0.122 2188 2549 3556 3552 3560 0 0 0 0 0 0 28.83 14.66 28.83

4117 -1.66 -146.0 2188 2549 3552 3560 406.7 -10.6 368 4123 0.00 2.47 0.00 0.000 516 0.000 0.112 2188 1147 3556 3552 3560 0 0 0 0 0 0 28.83 14.67 28.83

4140 -1.66 -146.0 2189 1147 3552 3561 409.3 -11.0 372 4145 0.00 2.53 0.00 0.000 1030 0.000 0.122 2182 2550 3556 3552 3560 0 0 0 0 0 0 28.83 14.68 28.83

4453 -1.66 -146.0 2182 2549 3553 3561 442.8 -11.4 384 4458 0.00 2.47 0.00 0.000 516 0.000 0.116 2187 1145 3557 3553 3561 0 0 0 0 0 0 28.83 14.67 28.83

4571 -1.66 -146.0 2182 1145 3553 3561 456.6 -10.7 407 4578 0.00 2.55 0.00 0.000 1030 0.000 0.125 2176 2551 3557 3553 3562 0 0 0 0 0 0 28.83 14.68 28.83

4877 -1.66 -146.0 2176 2551 3555 3562 483.1 -7.6 418 4882 0.00 2.47 0.00 0.000 516 0.000 0.117 2176 1150 3558 3555 3562 0 0 0 0 0 0 28.83 14.68 28.83

4934 -1.66 -146.0 2176 1150 3556 3562 488.6 -8.7 429 4941 0.00 2.55 0.00 0.000 1030 0.000 0.125 2170 2552 3558 3555 3562 0 0 0 0 0 0 28.83 14.67 28.83

5118 end dive: TARGET_DEPTH_EXCEEDED

state 5118 begin apogee

5124 -0.38 0.0 2170 2394 3556 3562 506.1 -9.4 436 5291 1.05 0.00 163.32 1.286 10246 0.252 0.000 2461 2394 2953 2971 2935 0 0 0 0 0 0 14.55 28.83 13.57

5292 end apogee: CONTROL_FINISHED_OK

state 5292 begin climb

5294 1.60 146.0 2461 2394 2960 2925 508.8 0.0 441 5465 1.40 0.00 163.85 1.200 10758 0.160 0.000 2895 2393 2353 2393 2313 0 0 0 0 0 0 14.03 28.83 13.43

5750 1.60 146.0 2895 2393 2367 2288 458.1 11.2 472 5751 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2393 2324 2368 2281 0 0 0 0 0 0 28.83 28.83 28.83

6050 1.60 146.0 2895 2393 2367 2280 419.0 13.6 482 6055 0.00 2.75 0.00 0.000 260 0.000 0.145 2895 3813 2323 2367 2280 0 0 0 0 0 0 28.83 14.44 28.83

6098 1.56 146.0 2895 3813 2366 2281 411.3 16.6 491 6103 0.00 2.47 0.00 0.000 1030 0.000 0.079 2904 2405 2323 2366 2281 0 0 0 0 0 0 28.83 14.50 28.83

6417 1.56 146.0 2904 2405 2366 2281 367.0 14.0 504 6423 0.00 2.70 0.00 0.000 260 0.000 0.143 2904 3812 2323 2366 2281 0 0 0 0 0 0 28.83 14.51 28.83

6465 1.51 146.0 2904 3813 2366 2280 359.9 14.7 513 6471 0.15 2.47 0.00 0.000 5126 0.295 0.077 2880 2395 2323 2366 2281 0 0 0 0 0 0 14.46 14.59 28.83

6785 1.51 146.0 2880 2395 2366 2280 321.1 12.2 526 6790 0.00 2.70 0.00 0.000 260 0.000 0.143 2881 3805 2323 2365 2281 0 0 0 0 0 0 28.83 14.57 28.83

6838 1.48 146.0 2879 3806 2366 2280 314.0 13.3 536 6843 0.00 2.45 0.00 0.000 1030 0.000 0.076 2888 2396 2323 2366 2281 0 0 0 0 0 0 28.83 14.62 28.83

7152 1.48 146.0 2888 2396 2366 2281 276.1 11.6 548 7158 0.00 2.70 0.00 0.000 260 0.000 0.143 2888 3814 2323 2366 2280 0 0 0 0 0 0 28.83 14.61 28.83

7200 1.45 146.0 2888 3814 2366 2280 269.5 13.4 557 7206 0.15 2.45 0.00 0.000 5126 0.279 0.076 2862 2401 2321 2366 2276 0 0 0 0 0 0 14.54 14.66 28.83

7519 1.48 146.0 2862 2401 2366 2280 232.0 12.3 572 7524 0.00 2.70 0.00 0.000 260 0.000 0.145 2862 3816 2323 2366 2280 0 0 0 0 0 0 28.83 14.62 28.83

7602 1.48 146.0 2862 3816 2366 2280 220.9 13.6 588 7608 0.00 2.45 0.00 0.000 1030 0.000 0.076 2871 2398 2323 2366 2280 0 0 0 0 0 0 28.83 14.68 28.83

7925 1.50 146.0 2871 2398 2366 2280 181.6 11.8 607 7927 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 2398 2323 2366 2280 0 0 0 0 0 0 28.83 28.83 28.83

8227 1.53 146.0 2871 2398 2366 2280 148.1 10.9 622 8232 0.00 2.67 0.00 0.000 260 0.000 0.143 2871 3808 2323 2366 2280 0 0 0 0 0 0 28.83 14.64 28.83

8264 1.53 146.0 2871 3806 2366 2280 143.5 11.9 629 8271 0.00 2.42 0.00 0.000 1030 0.000 0.077 2880 2405 2323 2366 2280 0 0 0 0 0 0 28.83 14.70 28.83

8570 1.55 146.0 2880 2400 2366 2280 112.0 10.0 645 8576 0.00 2.70 0.00 0.000 260 0.000 0.143 2880 3815 2323 2365 2281 0 0 0 0 0 0 28.83 14.64 28.83

8647 1.55 146.0 2880 3815 2367 2280 102.4 12.8 660 8654 0.00 2.45 0.00 0.000 1030 0.000 0.076 2889 2396 2323 2366 2280 0 0 0 0 0 0 28.83 14.67 28.83

8953 1.55 146.0 2890 2396 2366 2281 71.1 11.1 676 8954 0.00 0.00 0.00 0.000 6 0.000 0.000 2889 2396 2323 2366 2281 0 0 0 0 0 0 28.83 28.83 28.83

9256 1.60 147.4 2890 2396 2366 2282 41.8 9.9 691 9257 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 2396 2323 2365 2282 0 0 0 0 0 0 28.83 28.83 28.83

9554 1.63 147.4 2890 2396 2366 2282 13.7 12.3 711 9559 0.00 2.70 0.00 0.000 260 0.000 0.144 2889 3807 2324 2365 2283 0 0 0 0 0 0 28.83 14.65 28.83

9622 1.63 147.4 2889 3807 2366 2283 5.7 11.4 724 9629 0.00 2.45 0.00 0.000 1030 0.000 0.077 2900 2393 2324 2366 2283 0 0 0 0 0 0 28.83 14.71 28.83

9646 end climb: SURFACE_DEPTH_REACHED

state 9646 begin surface coast

9667 end surface coast: CONTROL_FINISHED_OK

state 9667 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	235	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	25	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	180115,135929,6706.787,-5703.425,38,1.7,39,-32.7	SPEED_LIMITS	0.173,0.262
_CALLS	2	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	1.92	MHEAD_RNG_PITCHd_Wd	158.1,13343,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-45.8	D_GRID	506
GPS2	180115,142024,6707.176,-5703.056,38,1.8,38,-32.7

FREEZE	1.53,-1.327,-1.789,0,1,0	SC_FREEKB	7694880
FINISH	1.5,1.026254	_24V_AH	13.43,57.846
SM_CCo	9685,110.15,0.151,0,0,1523,350.04	_10V_AH	13.70,0.000
SM_GC	2.33,7.68,0.32,110.15,0.083,0.139,0.151,209,2556,1523,-10.66,-0.34,350.04,0,0,0,0,0,0,14.75,14.67,14.56	FG_AHR_24Vo	0.000
RAFOS_CLK	409	FG_AHR_10Vo	0.000
RAFOS	0,1421596874,16.033333,16.020555,69,61,54,53,50,49,216,182,139,163,121,195	MEM	270960
RAFOS_FIX	6701.163574,-5728.308594,170115,040444,3,122,0.81	DATA_FILE_SIZE	26761,729
IRIDIUM_FIX	6631.12,-5617.06,180115,140309	CAP_FILE_SIZE	125318,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260034560,235536384
HUMID	44.88	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.46935	INTR	0,13270.56,0x23769e,7,5
TCM_TEMP	13.40	SOUNDSPEED	1468.2
XPDR_PINGS	1	GPS	180115,170534,6707.729,-5702.871,30,1.2,30,-32.7
ALTIM_TOP_PING	19.8,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	491	142.80	nil	0	0	0.00
Roll_motor	101	164	223.60	nil	0	0	0.00
VBD_pump_during_apogee	327	1285	5650.48	nil	0	0	0.00
VBD_pump_during_surface	110	150	222.94	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	9684	7	928.86
Iridium_during_xfer	945	163	2077.87	nil	0	0	0.00
Transponder_ping	0	420	2.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	39	30	16.21
TT8	1497	11	235.29
LPSleep	6509	2	206.01
TT8_Active	670	11	105.29
TT8_Sampling	2107	30	893.34
TT8_CF8	282	36	140.00
TT8_Kalman	0	0	0.00
Analog_circuits	2230	11	336.15
GPS_charging	0	0	0.00
Compass	1080	6	88.82
RAFOS	2520	1	51.79
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-1.60	-146.0	192	2541	518	480	0.0	0.0	0	183	0.00	0.00	-161.52	0.000	16386	0.000	0.000	190	2541	3319	3288	3351	0	0	0	0	0	0	28.83	28.83	28.83
186	-1.60	-146.0	190	2541	3289	3352	3.3	-2.2	16	213	10.95	2.55	-7.22	0.000	18692	0.491	0.164	2187	3837	3549	3537	3561	0	0	0	0	0	0	14.21	14.36	14.66
295	-1.50	-146.0	2187	3837	3541	3560	19.5	-12.4	37	302	0.15	2.20	0.00	0.000	3078	0.327	0.056	2218	2541	3550	3541	3560	0	0	0	0	0	0	14.28	14.51	28.83
601	-1.47	-146.0	2218	2541	3544	3561	65.4	-14.5	55	606	0.00	2.45	0.00	0.000	260	0.000	0.139	2209	3836	3551	3543	3560	0	0	0	0	0	0	28.83	14.49	28.83
833	-1.47	-146.0	2209	3836	3543	3560	93.9	-12.9	101	838	0.00	2.17	0.00	0.000	1030	0.000	0.057	2209	2552	3552	3544	3560	0	0	0	0	0	0	28.83	14.61	28.83
1145	-1.47	-146.0	2209	2551	3543	3559	130.8	-11.3	118	1151	0.00	2.45	0.00	0.000	516	0.000	0.102	2209	1141	3551	3544	3558	0	0	0	0	0	0	28.83	14.57	28.83
1263	-1.47	-146.0	2209	1141	3543	3557	143.8	-11.0	141	1271	0.12	2.53	0.00	0.000	3078	0.324	0.116	2227	2549	3550	3543	3558	0	0	0	0	0	0	14.45	14.58	28.83
1569	-1.50	-146.0	2227	2549	3543	3557	172.3	-8.8	157	1574	0.00	2.45	0.00	0.000	516	0.000	0.103	2228	1145	3554	3549	3559	0	0	0	0	0	0	28.83	14.60	28.83
1747	-1.54	-146.0	2228	1145	3539	3557	188.5	-8.4	192	1753	0.00	2.53	0.00	0.000	1030	0.000	0.116	2221	2552	3550	3543	3557	0	0	0	0	0	0	28.83	14.61	28.83
2053	-1.56	-146.0	2221	2552	3544	3557	215.6	-9.1	208	2058	0.00	2.45	0.00	0.000	516	0.000	0.103	2221	1147	3550	3544	3557	0	0	0	0	0	0	28.83	14.62	28.83
2176	-1.59	-146.0	2221	1146	3545	3557	227.0	-9.5	232	2182	0.00	2.53	0.00	0.000	1030	0.000	0.116	2215	2549	3551	3545	3557	0	0	0	0	0	0	28.83	14.63	28.83
2500	-1.62	-146.0	2215	2550	3546	3557	255.4	-8.6	250	2505	0.00	2.45	0.00	0.000	516	0.000	0.105	2214	1143	3552	3546	3558	0	0	0	0	0	0	28.83	14.64	28.83
2625	-1.64	-146.0	2214	1143	3547	3558	266.3	-8.9	274	2630	0.00	2.53	0.00	0.000	1030	0.000	0.118	2208	2552	3552	3547	3558	0	0	0	0	0	0	28.83	14.64	28.83
2960	-1.66	-146.0	2208	2552	3549	3558	295.0	-8.6	290	2965	0.00	2.47	0.00	0.000	516	0.000	0.106	2208	1139	3554	3549	3559	0	0	0	0	0	0	28.83	14.65	28.83
3027	-1.66	-146.0	2208	1141	3549	3559	301.4	-8.8	303	3033	0.00	2.55	0.00	0.000	1030	0.000	0.121	2201	2558	3554	3549	3559	0	0	0	0	0	0	28.83	14.63	28.83
3357	-1.66	-146.0	2202	2558	3551	3559	330.9	-9.2	318	3362	0.00	2.47	0.00	0.000	516	0.000	0.109	2201	1144	3555	3551	3559	0	0	0	0	0	0	28.83	14.66	28.83
3420	-1.66	-146.0	2201	1144	3550	3559	337.4	-10.1	330	3425	0.00	2.55	0.00	0.000	1030	0.000	0.121	2195	2559	3555	3551	3560	0	0	0	0	0	0	28.83	14.66	28.83
3754	-1.66	-146.0	2195	2560	3551	3560	370.6	-9.5	346	3760	0.00	2.47	0.00	0.000	516	0.000	0.110	2190	1148	3553	3546	3560	0	0	0	0	0	0	28.83	14.66	28.83
3812	-1.66	-146.0	2194	1148	3551	3560	376.2	-9.8	357	3818	0.00	2.53	0.00	0.000	1030	0.000	0.122	2188	2549	3556	3552	3560	0	0	0	0	0	0	28.83	14.66	28.83
4117	-1.66	-146.0	2188	2549	3552	3560	406.7	-10.6	368	4123	0.00	2.47	0.00	0.000	516	0.000	0.112	2188	1147	3556	3552	3560	0	0	0	0	0	0	28.83	14.67	28.83
4140	-1.66	-146.0	2189	1147	3552	3561	409.3	-11.0	372	4145	0.00	2.53	0.00	0.000	1030	0.000	0.122	2182	2550	3556	3552	3560	0	0	0	0	0	0	28.83	14.68	28.83
4453	-1.66	-146.0	2182	2549	3553	3561	442.8	-11.4	384	4458	0.00	2.47	0.00	0.000	516	0.000	0.116	2187	1145	3557	3553	3561	0	0	0	0	0	0	28.83	14.67	28.83
4571	-1.66	-146.0	2182	1145	3553	3561	456.6	-10.7	407	4578	0.00	2.55	0.00	0.000	1030	0.000	0.125	2176	2551	3557	3553	3562	0	0	0	0	0	0	28.83	14.68	28.83
4877	-1.66	-146.0	2176	2551	3555	3562	483.1	-7.6	418	4882	0.00	2.47	0.00	0.000	516	0.000	0.117	2176	1150	3558	3555	3562	0	0	0	0	0	0	28.83	14.68	28.83
4934	-1.66	-146.0	2176	1150	3556	3562	488.6	-8.7	429	4941	0.00	2.55	0.00	0.000	1030	0.000	0.125	2170	2552	3558	3555	3562	0	0	0	0	0	0	28.83	14.67	28.83
5118	end dive: TARGET_DEPTH_EXCEEDED
state	5118	begin apogee
5124	-0.38	0.0	2170	2394	3556	3562	506.1	-9.4	436	5291	1.05	0.00	163.32	1.286	10246	0.252	0.000	2461	2394	2953	2971	2935	0	0	0	0	0	0	14.55	28.83	13.57
5292	end apogee: CONTROL_FINISHED_OK
state	5292	begin climb
5294	1.60	146.0	2461	2394	2960	2925	508.8	0.0	441	5465	1.40	0.00	163.85	1.200	10758	0.160	0.000	2895	2393	2353	2393	2313	0	0	0	0	0	0	14.03	28.83	13.43
5750	1.60	146.0	2895	2393	2367	2288	458.1	11.2	472	5751	0.00	0.00	0.00	0.000	6	0.000	0.000	2895	2393	2324	2368	2281	0	0	0	0	0	0	28.83	28.83	28.83
6050	1.60	146.0	2895	2393	2367	2280	419.0	13.6	482	6055	0.00	2.75	0.00	0.000	260	0.000	0.145	2895	3813	2323	2367	2280	0	0	0	0	0	0	28.83	14.44	28.83
6098	1.56	146.0	2895	3813	2366	2281	411.3	16.6	491	6103	0.00	2.47	0.00	0.000	1030	0.000	0.079	2904	2405	2323	2366	2281	0	0	0	0	0	0	28.83	14.50	28.83
6417	1.56	146.0	2904	2405	2366	2281	367.0	14.0	504	6423	0.00	2.70	0.00	0.000	260	0.000	0.143	2904	3812	2323	2366	2281	0	0	0	0	0	0	28.83	14.51	28.83
6465	1.51	146.0	2904	3813	2366	2280	359.9	14.7	513	6471	0.15	2.47	0.00	0.000	5126	0.295	0.077	2880	2395	2323	2366	2281	0	0	0	0	0	0	14.46	14.59	28.83
6785	1.51	146.0	2880	2395	2366	2280	321.1	12.2	526	6790	0.00	2.70	0.00	0.000	260	0.000	0.143	2881	3805	2323	2365	2281	0	0	0	0	0	0	28.83	14.57	28.83
6838	1.48	146.0	2879	3806	2366	2280	314.0	13.3	536	6843	0.00	2.45	0.00	0.000	1030	0.000	0.076	2888	2396	2323	2366	2281	0	0	0	0	0	0	28.83	14.62	28.83
7152	1.48	146.0	2888	2396	2366	2281	276.1	11.6	548	7158	0.00	2.70	0.00	0.000	260	0.000	0.143	2888	3814	2323	2366	2280	0	0	0	0	0	0	28.83	14.61	28.83
7200	1.45	146.0	2888	3814	2366	2280	269.5	13.4	557	7206	0.15	2.45	0.00	0.000	5126	0.279	0.076	2862	2401	2321	2366	2276	0	0	0	0	0	0	14.54	14.66	28.83
7519	1.48	146.0	2862	2401	2366	2280	232.0	12.3	572	7524	0.00	2.70	0.00	0.000	260	0.000	0.145	2862	3816	2323	2366	2280	0	0	0	0	0	0	28.83	14.62	28.83
7602	1.48	146.0	2862	3816	2366	2280	220.9	13.6	588	7608	0.00	2.45	0.00	0.000	1030	0.000	0.076	2871	2398	2323	2366	2280	0	0	0	0	0	0	28.83	14.68	28.83
7925	1.50	146.0	2871	2398	2366	2280	181.6	11.8	607	7927	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	2398	2323	2366	2280	0	0	0	0	0	0	28.83	28.83	28.83
8227	1.53	146.0	2871	2398	2366	2280	148.1	10.9	622	8232	0.00	2.67	0.00	0.000	260	0.000	0.143	2871	3808	2323	2366	2280	0	0	0	0	0	0	28.83	14.64	28.83
8264	1.53	146.0	2871	3806	2366	2280	143.5	11.9	629	8271	0.00	2.42	0.00	0.000	1030	0.000	0.077	2880	2405	2323	2366	2280	0	0	0	0	0	0	28.83	14.70	28.83
8570	1.55	146.0	2880	2400	2366	2280	112.0	10.0	645	8576	0.00	2.70	0.00	0.000	260	0.000	0.143	2880	3815	2323	2365	2281	0	0	0	0	0	0	28.83	14.64	28.83
8647	1.55	146.0	2880	3815	2367	2280	102.4	12.8	660	8654	0.00	2.45	0.00	0.000	1030	0.000	0.076	2889	2396	2323	2366	2280	0	0	0	0	0	0	28.83	14.67	28.83
8953	1.55	146.0	2890	2396	2366	2281	71.1	11.1	676	8954	0.00	0.00	0.00	0.000	6	0.000	0.000	2889	2396	2323	2366	2281	0	0	0	0	0	0	28.83	28.83	28.83
9256	1.60	147.4	2890	2396	2366	2282	41.8	9.9	691	9257	0.00	0.00	0.00	0.000	6	0.000	0.000	2890	2396	2323	2365	2282	0	0	0	0	0	0	28.83	28.83	28.83
9554	1.63	147.4	2890	2396	2366	2282	13.7	12.3	711	9559	0.00	2.70	0.00	0.000	260	0.000	0.144	2889	3807	2324	2365	2283	0	0	0	0	0	0	28.83	14.65	28.83
9622	1.63	147.4	2889	3807	2366	2283	5.7	11.4	724	9629	0.00	2.45	0.00	0.000	1030	0.000	0.077	2900	2393	2324	2366	2283	0	0	0	0	0	0	28.83	14.71	28.83
9646	end climb: SURFACE_DEPTH_REACHED
state	9646	begin surface coast
9667	end surface coast: CONTROL_FINISHED_OK
state	9667	begin surface