Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 243 * 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 243 ESCAPE_HEADING 120 C_ROLL_DIVE 2550 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 1030 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 22 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 601.23029 R_STBD_OVSHOOT 14 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 601.23029

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 13 STROBE 0

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_MAX 3900 SURFACE_URGENCY 10

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PULSE 5 FG_AHR_24V 0 PITCH_MIN 225 SURFACE_URGENCY_TRY 5

ALTIM_SENSITIVITY 1 FILEMGR 2 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2.8 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 6000

APOGEE_PITCH -5 HD_A 0.0043000001 PRESSURE_SLOPE 0.0001163556 TGT_DEFAULT_LON -5500

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -50.214073 T_ABORT 1440

CALL_TRIES 3 HD_C 6.0000002e-06 PROTOCOL 9 T_BOOST 5

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 330

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0 T_EPIRB 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_GPS 3

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.1 RAFOS_DEVICE 32 T_GPS_ALMANAC 0

COMM_SEQ 0 ID 193 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_MISSION 400

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0.93000001 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RHO 1.0275 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2550 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 ROLL_AD_RATE 300 T_WATCHDOG 10

C_ROLL_DIVE 2550 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2951 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX 3

DBDW 0 MASS 52059 ROLL_MAX 3841 USE_BATHY -3

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 2

DEVICE1 -1 MAX_BUOY 150 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_PORT_OVSHOOT 22 VBD_DBAND 2

DEVICE4 -1 MISSION 4 R_STBD_OVSHOOT 14 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 243 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 190115,065047,6709.011,-5659.442,181,99.0,181,-32.7 SPEED_LIMITS 0.173,0.262

_CALLS 3 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 2.47 MHEAD_RNG_PITCHd_Wd 176.1,13863,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -42.0 D_GRID 428

GPS2 190115,065047,6709.011,-5659.442,181,99.0,181,-32.7

Post-dive calculations and measurements:

FREEZE 2.30,-1.443,-1.787,0,3,0 SC_FREEKB 7692320

FINISH 2.3,1.026218 _24V_AH 13.50,59.534

SM_CCo 8575,233.43,0.155,0,0,499,601.23 _10V_AH 13.37,0.000

SM_GC 2.27,7.78,0.32,233.43,0.094,0.145,0.155,207,2549,499,-10.68,-0.59,601.23,0,0,0,0,0,0,14.73,14.66,14.46 FG_AHR_24Vo 0.000

RAFOS_CLK 406 FG_AHR_10Vo 0.000

RAFOS 0,1421668862,12.033333,12.017222,70,58,57,54,54,54,211,153,195,172,140,126 MEM 270976

RAFOS_FIX 6710.515137,-5712.852539,190115,040400,2,88,1.00 DATA_FILE_SIZE 20092,599

IRIDIUM_FIX 6636.54,-5703.22,190115,064140 CAP_FILE_SIZE 106351,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 260034560,234983424

HUMID 44.21 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.37169 INTR 0,9552.80,0x23769e,7,5

TCM_TEMP 13.00 SOUNDSPEED 1462.3

XPDR_PINGS 2 GPS 190115,141804,6709.662,-5702.435,28,0.9,28,-32.7

ALTIM_TOP_PING 19.3,16.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 450 124.24 nil 0 0 0.00

Roll_motor 69 145 137.11 nil 0 0 0.00

VBD_pump_during_apogee 350 1253 5935.80 nil 0 0 0.00

VBD_pump_during_surface 233 154 486.96 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 8477 7 836.67

Iridium_during_xfer 121 51 84.28 nil 0 0 0.00

Transponder_ping 0 420 4.25 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 181 30 72.91

TT8 1280 11 196.34

LPSleep 5944 2 183.60

TT8_Active 722 11 110.74

TT8_Sampling 1268 30 524.80

TT8_CF8 303 36 146.79

TT8_Kalman 0 0 0.00

Analog_circuits 1373 11 201.97

GPS_charging 0 0 0.00

Compass 893 6 71.70

RAFOS 2520 1 50.54

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -1.60 -146.0 202 2558 1532 1493 0.0 0.0 0 142 0.00 0.00 -118.40 0.000 16390 0.000 0.000 202 2558 3546 3528 3565 0 0 0 0 0 0 28.83 28.83 14.85

145 -1.60 -146.0 202 2558 3528 3565 2.5 0.0 12 161 9.77 2.45 0.00 0.000 2308 0.451 0.138 2185 3839 3548 3532 3565 0 0 0 0 0 0 14.31 14.55 28.83

334 -1.49 -146.0 2185 3838 3537 3565 8.0 -11.5 49 342 0.15 2.20 0.00 0.000 3078 0.295 0.058 2219 2540 3551 3538 3565 0 0 0 0 0 0 14.45 14.64 28.83

650 -1.49 -146.0 2220 2541 3540 3563 49.5 -13.0 72 655 0.00 2.45 0.00 0.000 260 0.000 0.137 2211 3837 3551 3539 3563 0 0 0 0 0 0 28.83 14.58 28.83

848 -1.46 -146.0 2211 3837 3539 3563 74.9 -11.5 111 855 0.00 2.17 0.00 0.000 1030 0.000 0.057 2211 2552 3550 3538 3562 0 0 0 0 0 0 28.83 14.69 28.83

1156 -1.46 -146.0 2211 2551 3539 3559 110.9 -12.4 127 1161 0.00 2.45 0.00 0.000 260 0.000 0.141 2202 3846 3549 3539 3560 0 0 0 0 0 0 28.83 14.59 28.83

1319 -1.46 -146.0 2202 3846 3539 3559 132.6 -13.4 159 1325 0.12 2.20 0.00 0.000 3078 0.301 0.060 2228 2548 3548 3539 3558 0 0 0 0 0 0 14.49 14.69 28.83

1646 -1.50 -146.0 2228 2548 3539 3558 168.5 -10.7 178 1651 0.00 2.45 0.00 0.000 260 0.000 0.141 2220 3842 3548 3539 3558 0 0 0 0 0 0 28.83 14.59 28.83

1680 -1.50 -146.0 2219 3841 3539 3558 172.5 -11.4 184 1685 0.00 2.20 0.00 0.000 1030 0.000 0.060 2219 2542 3548 3539 3558 0 0 0 0 0 0 28.83 14.70 28.83

1993 -1.52 -146.0 2219 2542 3539 3556 204.6 -9.9 201 1994 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2542 3548 3539 3557 0 0 0 0 0 0 28.83 28.83 28.83

2293 -1.55 -146.0 2219 2542 3539 3556 232.6 -9.1 216 2298 0.00 2.42 0.00 0.000 516 0.000 0.105 2219 1147 3547 3539 3555 0 0 0 0 0 0 28.83 14.64 28.83

2326 -1.58 -146.0 2219 1147 3539 3555 235.6 -9.5 222 2331 0.00 2.55 0.00 0.000 1030 0.000 0.117 2213 2556 3547 3539 3555 0 0 0 0 0 0 28.83 14.65 28.83

2649 -1.60 -146.0 2213 2556 3539 3555 263.3 -8.5 237 2650 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2556 3547 3539 3555 0 0 0 0 0 0 28.83 28.83 28.83

2949 -1.63 -146.0 2213 2556 3536 3555 288.5 -8.2 247 2955 0.00 2.45 0.00 0.000 516 0.000 0.106 2211 1123 3551 3547 3555 0 0 0 0 0 0 28.83 14.66 28.83

2988 -1.65 -146.0 2213 1123 3540 3555 291.9 -8.9 254 2993 0.00 2.60 0.00 0.000 1030 0.000 0.118 2205 2560 3547 3540 3555 0 0 0 0 0 0 28.83 14.67 28.83

3318 -1.67 -146.0 2206 2560 3543 3556 320.1 -8.6 269 3324 0.00 2.40 0.00 0.000 260 0.000 0.139 2197 3837 3549 3542 3556 0 0 0 0 0 0 28.83 14.64 28.83

3336 -1.67 -146.0 2197 3837 3542 3555 321.8 -8.6 272 3341 0.00 2.17 0.00 0.000 1030 0.000 0.059 2197 2548 3548 3542 3555 0 0 0 0 0 0 28.83 14.74 28.83

3655 -1.67 -146.0 2196 2547 3544 3556 350.1 -9.0 285 3660 0.00 2.45 0.00 0.000 516 0.000 0.109 2196 1141 3550 3544 3556 0 0 0 0 0 0 28.83 14.67 28.83

3689 -1.67 -146.0 2197 1141 3543 3556 353.2 -9.5 291 3694 0.00 2.55 0.00 0.000 1030 0.000 0.121 2190 2550 3550 3544 3556 0 0 0 0 0 0 28.83 14.66 28.83

4023 -1.67 -146.0 2190 2551 3546 3556 383.2 -9.0 307 4024 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2551 3551 3546 3557 0 0 0 0 0 0 28.83 28.83 28.83

4323 -1.67 -146.0 2190 2551 3547 3557 408.9 -7.9 317 4324 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2552 3551 3547 3556 0 0 0 0 0 0 28.83 28.83 28.83

4560 end dive: TARGET_DEPTH_EXCEEDED

state 4560 begin apogee

4566 -0.38 0.0 2190 2393 3549 3558 430.8 -9.0 325 4731 0.98 0.00 161.60 1.254 10246 0.243 0.000 2464 2393 2950 2968 2933 0 0 0 0 0 0 14.57 28.83 13.62

4733 end apogee: CONTROL_FINISHED_OK

state 4733 begin climb

4735 1.60 146.0 2464 2393 2959 2922 435.7 0.0 330 4913 1.38 2.95 163.88 1.138 11012 0.151 0.145 2895 3809 2341 2382 2301 0 0 0 0 0 0 14.05 13.87 13.50

4965 1.55 146.0 2895 3809 2370 2291 413.4 13.4 370 4970 0.00 2.55 0.00 0.000 1030 0.000 0.078 2904 2408 2330 2370 2290 0 0 0 0 0 0 28.83 14.09 28.83

5289 1.55 146.0 2904 2408 2369 2284 370.8 13.1 384 5295 0.00 2.58 0.00 0.000 516 0.000 0.115 2913 982 2326 2369 2284 0 0 0 0 0 0 28.83 14.37 28.83

5336 1.55 146.0 2914 982 2367 2284 364.3 12.9 393 5342 0.12 2.62 0.00 0.000 5126 0.288 0.116 2887 2407 2325 2368 2283 0 0 0 0 0 0 14.31 14.40 28.83

5657 1.55 146.0 2887 2407 2368 2282 324.1 12.9 406 5662 0.00 2.55 0.00 0.000 516 0.000 0.112 2897 982 2325 2368 2282 0 0 0 0 0 0 28.83 14.51 28.83

5704 1.55 146.0 2897 982 2368 2283 317.6 12.5 415 5709 0.00 2.58 0.00 0.000 1030 0.000 0.116 2897 2400 2325 2368 2282 0 0 0 0 0 0 28.83 14.52 28.83

6022 1.55 146.0 2897 2399 2368 2282 275.9 13.0 428 6024 0.00 0.00 0.00 0.000 6 0.000 0.000 2896 2399 2325 2368 2282 0 0 0 0 0 0 28.83 28.83 28.83

6332 1.55 146.0 2892 2397 2368 2282 235.9 12.8 440 6333 0.00 0.00 0.00 0.000 6 0.000 0.000 2897 2400 2325 2368 2282 0 0 0 0 0 0 28.83 28.83 28.83

6634 1.55 146.0 2896 2400 2368 2282 199.3 12.4 455 6640 0.00 2.50 0.00 0.000 516 0.000 0.111 2906 987 2325 2368 2282 0 0 0 0 0 0 28.83 14.64 28.83

6677 1.55 146.0 2906 987 2368 2282 193.5 12.6 463 6683 0.00 2.55 0.00 0.000 1030 0.000 0.114 2906 2401 2325 2368 2282 0 0 0 0 0 0 28.83 14.62 28.83

7000 1.55 146.0 2906 2401 2368 2283 150.7 13.3 482 7001 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 2401 2325 2368 2282 0 0 0 0 0 0 28.83 28.83 28.83

7301 1.55 146.0 2906 2401 2368 2283 113.8 11.3 497 7307 0.00 2.50 0.00 0.000 516 0.000 0.109 2915 983 2327 2368 2287 0 0 0 0 0 0 28.83 14.66 28.83

7329 1.55 146.0 2915 983 2368 2283 110.5 11.1 502 7335 0.12 2.55 0.00 0.000 5126 0.288 0.114 2888 2400 2325 2368 2283 0 0 0 0 0 0 14.57 14.66 28.83

7647 1.55 146.0 2888 2400 2368 2284 75.1 11.4 520 7649 0.00 0.00 0.00 0.000 6 0.000 0.000 2888 2400 2326 2368 2284 0 0 0 0 0 0 28.83 28.83 28.83

7950 1.62 179.7 2888 2400 2368 2285 45.1 8.5 535 7974 0.00 2.70 17.73 0.258 8452 0.000 0.143 2888 3810 2221 2258 2185 0 0 0 0 0 0 28.83 14.63 14.51

8107 1.62 179.7 2888 3810 2259 2200 29.7 10.1 566 8115 0.00 2.47 2.05 0.184 9222 0.000 0.077 2897 2386 2217 2250 2184 0 0 0 0 0 0 28.83 14.66 14.60

8415 1.69 202.4 2898 2386 2256 2200 3.8 9.0 594 8423 0.00 0.00 5.43 0.167 8450 0.000 0.000 2897 2386 2192 2225 2159 0 0 0 0 0 0 28.83 28.83 28.83

8424 end climb: SURFACE_DEPTH_REACHED

state 8424 begin surface coast

8461 end surface coast: CONTROL_FINISHED_OK

state 8461 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	243	ESCAPE_HEADING	120	C_ROLL_DIVE	2550	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	1030	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	22	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	601.23029	R_STBD_OVSHOOT	14	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	190115,065047,6709.011,-5659.442,181,99.0,181,-32.7	SPEED_LIMITS	0.173,0.262
_CALLS	3	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	2.47	MHEAD_RNG_PITCHd_Wd	176.1,13863,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-42.0	D_GRID	428
GPS2	190115,065047,6709.011,-5659.442,181,99.0,181,-32.7

FREEZE	2.30,-1.443,-1.787,0,3,0	SC_FREEKB	7692320
FINISH	2.3,1.026218	_24V_AH	13.50,59.534
SM_CCo	8575,233.43,0.155,0,0,499,601.23	_10V_AH	13.37,0.000
SM_GC	2.27,7.78,0.32,233.43,0.094,0.145,0.155,207,2549,499,-10.68,-0.59,601.23,0,0,0,0,0,0,14.73,14.66,14.46	FG_AHR_24Vo	0.000
RAFOS_CLK	406	FG_AHR_10Vo	0.000
RAFOS	0,1421668862,12.033333,12.017222,70,58,57,54,54,54,211,153,195,172,140,126	MEM	270976
RAFOS_FIX	6710.515137,-5712.852539,190115,040400,2,88,1.00	DATA_FILE_SIZE	20092,599
IRIDIUM_FIX	6636.54,-5703.22,190115,064140	CAP_FILE_SIZE	106351,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	260034560,234983424
HUMID	44.21	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.37169	INTR	0,9552.80,0x23769e,7,5
TCM_TEMP	13.00	SOUNDSPEED	1462.3
XPDR_PINGS	2	GPS	190115,141804,6709.662,-5702.435,28,0.9,28,-32.7
ALTIM_TOP_PING	19.3,16.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	450	124.24	nil	0	0	0.00
Roll_motor	69	145	137.11	nil	0	0	0.00
VBD_pump_during_apogee	350	1253	5935.80	nil	0	0	0.00
VBD_pump_during_surface	233	154	486.96	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	8477	7	836.67
Iridium_during_xfer	121	51	84.28	nil	0	0	0.00
Transponder_ping	0	420	4.25	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	181	30	72.91
TT8	1280	11	196.34
LPSleep	5944	2	183.60
TT8_Active	722	11	110.74
TT8_Sampling	1268	30	524.80
TT8_CF8	303	36	146.79
TT8_Kalman	0	0	0.00
Analog_circuits	1373	11	201.97
GPS_charging	0	0	0.00
Compass	893	6	71.70
RAFOS	2520	1	50.54
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-1.60	-146.0	202	2558	1532	1493	0.0	0.0	0	142	0.00	0.00	-118.40	0.000	16390	0.000	0.000	202	2558	3546	3528	3565	0	0	0	0	0	0	28.83	28.83	14.85
145	-1.60	-146.0	202	2558	3528	3565	2.5	0.0	12	161	9.77	2.45	0.00	0.000	2308	0.451	0.138	2185	3839	3548	3532	3565	0	0	0	0	0	0	14.31	14.55	28.83
334	-1.49	-146.0	2185	3838	3537	3565	8.0	-11.5	49	342	0.15	2.20	0.00	0.000	3078	0.295	0.058	2219	2540	3551	3538	3565	0	0	0	0	0	0	14.45	14.64	28.83
650	-1.49	-146.0	2220	2541	3540	3563	49.5	-13.0	72	655	0.00	2.45	0.00	0.000	260	0.000	0.137	2211	3837	3551	3539	3563	0	0	0	0	0	0	28.83	14.58	28.83
848	-1.46	-146.0	2211	3837	3539	3563	74.9	-11.5	111	855	0.00	2.17	0.00	0.000	1030	0.000	0.057	2211	2552	3550	3538	3562	0	0	0	0	0	0	28.83	14.69	28.83
1156	-1.46	-146.0	2211	2551	3539	3559	110.9	-12.4	127	1161	0.00	2.45	0.00	0.000	260	0.000	0.141	2202	3846	3549	3539	3560	0	0	0	0	0	0	28.83	14.59	28.83
1319	-1.46	-146.0	2202	3846	3539	3559	132.6	-13.4	159	1325	0.12	2.20	0.00	0.000	3078	0.301	0.060	2228	2548	3548	3539	3558	0	0	0	0	0	0	14.49	14.69	28.83
1646	-1.50	-146.0	2228	2548	3539	3558	168.5	-10.7	178	1651	0.00	2.45	0.00	0.000	260	0.000	0.141	2220	3842	3548	3539	3558	0	0	0	0	0	0	28.83	14.59	28.83
1680	-1.50	-146.0	2219	3841	3539	3558	172.5	-11.4	184	1685	0.00	2.20	0.00	0.000	1030	0.000	0.060	2219	2542	3548	3539	3558	0	0	0	0	0	0	28.83	14.70	28.83
1993	-1.52	-146.0	2219	2542	3539	3556	204.6	-9.9	201	1994	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2542	3548	3539	3557	0	0	0	0	0	0	28.83	28.83	28.83
2293	-1.55	-146.0	2219	2542	3539	3556	232.6	-9.1	216	2298	0.00	2.42	0.00	0.000	516	0.000	0.105	2219	1147	3547	3539	3555	0	0	0	0	0	0	28.83	14.64	28.83
2326	-1.58	-146.0	2219	1147	3539	3555	235.6	-9.5	222	2331	0.00	2.55	0.00	0.000	1030	0.000	0.117	2213	2556	3547	3539	3555	0	0	0	0	0	0	28.83	14.65	28.83
2649	-1.60	-146.0	2213	2556	3539	3555	263.3	-8.5	237	2650	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2556	3547	3539	3555	0	0	0	0	0	0	28.83	28.83	28.83
2949	-1.63	-146.0	2213	2556	3536	3555	288.5	-8.2	247	2955	0.00	2.45	0.00	0.000	516	0.000	0.106	2211	1123	3551	3547	3555	0	0	0	0	0	0	28.83	14.66	28.83
2988	-1.65	-146.0	2213	1123	3540	3555	291.9	-8.9	254	2993	0.00	2.60	0.00	0.000	1030	0.000	0.118	2205	2560	3547	3540	3555	0	0	0	0	0	0	28.83	14.67	28.83
3318	-1.67	-146.0	2206	2560	3543	3556	320.1	-8.6	269	3324	0.00	2.40	0.00	0.000	260	0.000	0.139	2197	3837	3549	3542	3556	0	0	0	0	0	0	28.83	14.64	28.83
3336	-1.67	-146.0	2197	3837	3542	3555	321.8	-8.6	272	3341	0.00	2.17	0.00	0.000	1030	0.000	0.059	2197	2548	3548	3542	3555	0	0	0	0	0	0	28.83	14.74	28.83
3655	-1.67	-146.0	2196	2547	3544	3556	350.1	-9.0	285	3660	0.00	2.45	0.00	0.000	516	0.000	0.109	2196	1141	3550	3544	3556	0	0	0	0	0	0	28.83	14.67	28.83
3689	-1.67	-146.0	2197	1141	3543	3556	353.2	-9.5	291	3694	0.00	2.55	0.00	0.000	1030	0.000	0.121	2190	2550	3550	3544	3556	0	0	0	0	0	0	28.83	14.66	28.83
4023	-1.67	-146.0	2190	2551	3546	3556	383.2	-9.0	307	4024	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2551	3551	3546	3557	0	0	0	0	0	0	28.83	28.83	28.83
4323	-1.67	-146.0	2190	2551	3547	3557	408.9	-7.9	317	4324	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2552	3551	3547	3556	0	0	0	0	0	0	28.83	28.83	28.83
4560	end dive: TARGET_DEPTH_EXCEEDED
state	4560	begin apogee
4566	-0.38	0.0	2190	2393	3549	3558	430.8	-9.0	325	4731	0.98	0.00	161.60	1.254	10246	0.243	0.000	2464	2393	2950	2968	2933	0	0	0	0	0	0	14.57	28.83	13.62
4733	end apogee: CONTROL_FINISHED_OK
state	4733	begin climb
4735	1.60	146.0	2464	2393	2959	2922	435.7	0.0	330	4913	1.38	2.95	163.88	1.138	11012	0.151	0.145	2895	3809	2341	2382	2301	0	0	0	0	0	0	14.05	13.87	13.50
4965	1.55	146.0	2895	3809	2370	2291	413.4	13.4	370	4970	0.00	2.55	0.00	0.000	1030	0.000	0.078	2904	2408	2330	2370	2290	0	0	0	0	0	0	28.83	14.09	28.83
5289	1.55	146.0	2904	2408	2369	2284	370.8	13.1	384	5295	0.00	2.58	0.00	0.000	516	0.000	0.115	2913	982	2326	2369	2284	0	0	0	0	0	0	28.83	14.37	28.83
5336	1.55	146.0	2914	982	2367	2284	364.3	12.9	393	5342	0.12	2.62	0.00	0.000	5126	0.288	0.116	2887	2407	2325	2368	2283	0	0	0	0	0	0	14.31	14.40	28.83
5657	1.55	146.0	2887	2407	2368	2282	324.1	12.9	406	5662	0.00	2.55	0.00	0.000	516	0.000	0.112	2897	982	2325	2368	2282	0	0	0	0	0	0	28.83	14.51	28.83
5704	1.55	146.0	2897	982	2368	2283	317.6	12.5	415	5709	0.00	2.58	0.00	0.000	1030	0.000	0.116	2897	2400	2325	2368	2282	0	0	0	0	0	0	28.83	14.52	28.83
6022	1.55	146.0	2897	2399	2368	2282	275.9	13.0	428	6024	0.00	0.00	0.00	0.000	6	0.000	0.000	2896	2399	2325	2368	2282	0	0	0	0	0	0	28.83	28.83	28.83
6332	1.55	146.0	2892	2397	2368	2282	235.9	12.8	440	6333	0.00	0.00	0.00	0.000	6	0.000	0.000	2897	2400	2325	2368	2282	0	0	0	0	0	0	28.83	28.83	28.83
6634	1.55	146.0	2896	2400	2368	2282	199.3	12.4	455	6640	0.00	2.50	0.00	0.000	516	0.000	0.111	2906	987	2325	2368	2282	0	0	0	0	0	0	28.83	14.64	28.83
6677	1.55	146.0	2906	987	2368	2282	193.5	12.6	463	6683	0.00	2.55	0.00	0.000	1030	0.000	0.114	2906	2401	2325	2368	2282	0	0	0	0	0	0	28.83	14.62	28.83
7000	1.55	146.0	2906	2401	2368	2283	150.7	13.3	482	7001	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	2401	2325	2368	2282	0	0	0	0	0	0	28.83	28.83	28.83
7301	1.55	146.0	2906	2401	2368	2283	113.8	11.3	497	7307	0.00	2.50	0.00	0.000	516	0.000	0.109	2915	983	2327	2368	2287	0	0	0	0	0	0	28.83	14.66	28.83
7329	1.55	146.0	2915	983	2368	2283	110.5	11.1	502	7335	0.12	2.55	0.00	0.000	5126	0.288	0.114	2888	2400	2325	2368	2283	0	0	0	0	0	0	14.57	14.66	28.83
7647	1.55	146.0	2888	2400	2368	2284	75.1	11.4	520	7649	0.00	0.00	0.00	0.000	6	0.000	0.000	2888	2400	2326	2368	2284	0	0	0	0	0	0	28.83	28.83	28.83
7950	1.62	179.7	2888	2400	2368	2285	45.1	8.5	535	7974	0.00	2.70	17.73	0.258	8452	0.000	0.143	2888	3810	2221	2258	2185	0	0	0	0	0	0	28.83	14.63	14.51
8107	1.62	179.7	2888	3810	2259	2200	29.7	10.1	566	8115	0.00	2.47	2.05	0.184	9222	0.000	0.077	2897	2386	2217	2250	2184	0	0	0	0	0	0	28.83	14.66	14.60
8415	1.69	202.4	2898	2386	2256	2200	3.8	9.0	594	8423	0.00	0.00	5.43	0.167	8450	0.000	0.000	2897	2386	2192	2225	2159	0	0	0	0	0	0	28.83	28.83	28.83
8424	end climb: SURFACE_DEPTH_REACHED
state	8424	begin surface coast
8461	end surface coast: CONTROL_FINISHED_OK
state	8461	begin surface