Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 245 * 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 245 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 21 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 12 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 21 VBD_DBAND 2

DEVICE4 -1 MISSION 4 R_STBD_OVSHOOT 12 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 245 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 190115,165434,6709.242,-5703.013,29,1.1,29,-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 2.21 MHEAD_RNG_PITCHd_Wd 169.3,15621,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -59.8 D_GRID 443

GPS2 190115,171059,6709.125,-5702.873,19,1.1,19,-32.7

Post-dive calculations and measurements:

FREEZE 1.74,-1.618,-1.794,0,1,0 SC_FREEKB 7691680

FINISH 1.7,1.026327 _24V_AH 13.47,59.978

SM_CCo 8746,84.20,0.153,0,0,1523,350.04 _10V_AH 13.37,0.000

SM_GC 2.50,7.82,0.28,84.20,0.091,0.147,0.153,209,2550,1523,-10.67,-0.57,350.04,0,0,0,0,0,0,14.70,14.64,14.54 FG_AHR_24Vo 0.000

RAFOS_CLK 371 FG_AHR_10Vo 0.000

RAFOS 6,1421686147,16.833334,16.818611,115,59,58,56,55,52,772,171,210,184,157,196 MEM 270944

RAFOS_FIX 6709.608887,-5711.352051,190115,161656,2,100,0.00 DATA_FILE_SIZE 20131,609

IRIDIUM_FIX 6636.54,-5701.58,190115,165807 CAP_FILE_SIZE 106750,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 260034560,234872832

HUMID 44.92 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.44982 INTR 0,9519.14,0x23769e,7,5

TCM_TEMP 12.70 SOUNDSPEED 1463.4

XPDR_PINGS 1 GPS 190115,194021,6707.921,-5701.010,27,1.0,41,-32.7

ALTIM_TOP_PING 19.6,17.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 470 134.67 nil 0 0 0.00

Roll_motor 59 159 127.80 nil 0 0 0.00

VBD_pump_during_apogee 361 1276 6213.74 nil 0 0 0.00

VBD_pump_during_surface 84 153 173.53 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 8743 7 859.24

Iridium_during_xfer 696 158 1486.36 nil 0 0 0.00

Transponder_ping 0 420 2.83 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 30 8.37

TT8 1267 11 194.45

LPSleep 6108 2 188.67

TT8_Active 545 11 83.64

TT8_Sampling 1647 30 681.39

TT8_CF8 271 36 131.24

TT8_Kalman 0 0 0.00

Analog_circuits 1775 11 261.14

GPS_charging 0 0 0.00

Compass 913 6 73.27

RAFOS 0 0 0.00

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 17 begin dive

19 -1.60 -146.0 209 2554 1508 1514 0.0 0.0 0 122 0.00 0.00 -100.90 0.000 16386 0.000 0.000 210 2555 3253 3220 3287 0 0 0 0 0 0 28.83 28.83 28.83

126 -1.60 -146.0 209 2554 3222 3285 3.5 -1.9 10 152 10.32 2.50 -8.88 0.000 18692 0.470 0.159 2182 3842 3549 3538 3560 0 0 0 0 0 0 14.18 14.38 14.67

380 -1.53 -146.0 2181 3843 3543 3560 41.9 -15.2 60 386 0.15 2.25 0.00 0.000 3078 0.302 0.060 2214 2531 3552 3543 3561 0 0 0 0 0 0 14.35 14.53 28.83

694 -1.53 -146.0 2213 2531 3543 3560 80.9 -12.2 77 700 0.00 2.53 0.00 0.000 260 0.000 0.142 2205 3845 3551 3543 3560 0 0 0 0 0 0 28.83 14.50 28.83

886 -1.53 -146.0 2205 3846 3544 3560 103.4 -10.9 115 891 0.00 2.22 0.00 0.000 1030 0.000 0.060 2205 2541 3551 3543 3559 0 0 0 0 0 0 28.83 14.63 28.83

1199 -1.53 -146.0 2210 2541 3544 3557 134.6 -10.1 132 1200 0.00 0.00 0.00 0.000 6 0.000 0.000 2204 2540 3550 3544 3557 0 0 0 0 0 0 28.83 28.83 28.83

1500 -1.53 -146.0 2205 2541 3544 3556 165.8 -10.1 147 1502 0.00 0.00 0.00 0.000 6 0.000 0.000 2205 2541 3550 3544 3556 0 0 0 0 0 0 28.83 28.83 28.83

1800 -1.53 -146.0 2205 2540 3544 3555 194.3 -9.0 162 1806 0.00 2.47 0.00 0.000 260 0.000 0.139 2196 3839 3549 3544 3554 0 0 0 0 0 0 28.83 14.59 28.83

1944 -1.53 -146.0 2196 3839 3543 3555 208.0 -9.7 190 1949 0.00 2.20 0.00 0.000 1030 0.000 0.060 2198 2542 3549 3544 3554 0 0 0 0 0 0 28.83 14.70 28.83

2267 -1.53 -146.0 2195 2541 3544 3554 237.6 -9.4 209 2272 0.00 2.47 0.00 0.000 260 0.000 0.137 2187 3845 3549 3544 3554 0 0 0 0 0 0 28.83 14.60 28.83

2294 -1.53 -146.0 2187 3846 3544 3554 240.4 -10.4 214 2300 0.12 2.20 0.00 0.000 3078 0.298 0.059 2214 2545 3549 3544 3554 0 0 0 0 0 0 14.50 14.71 28.83

2623 -1.56 -146.0 2214 2545 3544 3555 268.3 -8.4 229 2624 0.00 0.00 0.00 0.000 6 0.000 0.000 2215 2544 3553 3552 3554 0 0 0 0 0 0 28.83 28.83 28.83

2924 -1.59 -146.0 2214 2545 3546 3555 291.9 -7.8 239 2925 0.00 0.00 0.00 0.000 6 0.000 0.000 2214 2545 3550 3546 3554 0 0 0 0 0 0 28.83 28.83 28.83

3223 -1.62 -146.0 2213 2544 3547 3556 314.1 -7.3 249 3224 0.00 0.00 0.00 0.000 6 0.000 0.000 2214 2545 3551 3547 3556 0 0 0 0 0 0 28.83 28.83 28.83

3524 -1.64 -146.0 2213 2545 3548 3557 336.8 -7.8 259 3525 0.00 0.00 0.00 0.000 6 0.000 0.000 2214 2545 3553 3549 3557 0 0 0 0 0 0 28.83 28.83 28.83

3823 -1.67 -146.0 2214 2545 3550 3558 361.4 -8.4 269 3829 0.12 2.45 0.00 0.000 4356 0.150 0.134 2148 3843 3554 3550 3558 0 0 0 0 0 0 14.75 14.65 28.83

3867 -1.62 -146.0 2148 3843 3550 3558 366.0 -10.9 277 3873 0.20 2.17 0.00 0.000 3078 0.292 0.059 2196 2552 3553 3549 3558 0 0 0 0 0 0 14.54 14.76 28.83

4192 -1.62 -146.0 2194 2552 3551 3559 396.4 -9.2 291 4197 0.00 2.42 0.00 0.000 516 0.000 0.105 2195 1148 3555 3551 3559 0 0 0 0 0 0 28.83 14.69 28.83

4225 -1.62 -146.0 2195 1148 3551 3559 399.8 -10.1 297 4231 0.00 2.53 0.00 0.000 1030 0.000 0.116 2188 2554 3555 3551 3559 0 0 0 0 0 0 28.83 14.69 28.83

4559 -1.62 -146.0 2188 2553 3551 3559 433.9 -10.2 313 4560 0.00 0.00 0.00 0.000 6 0.000 0.000 2188 2554 3555 3551 3559 0 0 0 0 0 0 28.83 28.83 28.83

4676 end dive: TARGET_DEPTH_EXCEEDED

state 4676 begin apogee

4682 -0.38 0.0 2188 2396 3551 3559 445.9 -10.1 317 4847 0.98 0.00 160.57 1.277 10246 0.249 0.000 2461 2396 2950 2967 2933 0 0 0 0 0 0 14.57 28.83 13.60

4848 end apogee: CONTROL_FINISHED_OK

state 4848 begin climb

4850 1.60 146.0 2461 2395 2961 2924 449.0 0.0 322 5025 1.40 2.67 162.48 1.163 10756 0.158 0.115 2903 1001 2344 2384 2304 0 0 0 0 0 0 14.04 13.87 13.47

5067 1.60 146.0 2903 1002 2377 2290 427.4 11.2 369 5075 0.00 2.65 0.00 0.000 1030 0.000 0.115 2903 2399 2333 2377 2290 0 0 0 0 0 0 28.83 14.02 28.83

5373 1.60 146.0 2903 2402 2373 2285 389.2 12.6 380 5374 0.00 0.00 0.00 0.000 6 0.000 0.000 2903 2398 2329 2373 2285 0 0 0 0 0 0 28.83 28.83 28.83

5673 1.60 146.0 2903 2398 2373 2284 350.6 12.9 390 5679 0.00 2.50 0.00 0.000 516 0.000 0.111 2913 1002 2328 2372 2284 0 0 0 0 0 0 28.83 14.48 28.83

5706 1.60 146.0 2913 1002 2373 2284 346.1 13.8 396 5712 0.00 2.55 0.00 0.000 1030 0.000 0.113 2913 2401 2328 2373 2283 0 0 0 0 0 0 28.83 14.50 28.83

6041 1.57 146.0 2913 2401 2373 2283 302.7 13.1 412 6042 0.00 0.00 0.00 0.000 6 0.000 0.000 2913 2401 2327 2372 2283 0 0 0 0 0 0 28.83 28.83 28.83

6339 1.55 146.0 2913 2402 2373 2283 262.8 13.2 422 6345 0.12 2.47 0.00 0.000 4612 0.295 0.107 2889 1002 2328 2373 2283 0 0 0 0 0 0 14.50 14.60 28.83

6383 1.55 146.0 2890 1002 2373 2283 257.3 12.3 430 6388 0.00 2.53 0.00 0.000 1030 0.000 0.114 2890 2399 2330 2378 2283 0 0 0 0 0 0 28.83 14.60 28.83

6705 1.55 146.0 2894 2400 2373 2283 217.9 12.5 448 6706 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 2399 2328 2373 2283 0 0 0 0 0 0 28.83 28.83 28.83

7007 1.55 146.0 2890 2400 2373 2283 180.5 12.4 463 7008 0.00 0.00 0.00 0.000 6 0.000 0.000 2889 2400 2328 2373 2283 0 0 0 0 0 0 28.83 28.83 28.83

7307 1.55 146.0 2890 2400 2373 2284 143.8 11.7 478 7308 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 2400 2328 2373 2284 0 0 0 0 0 0 28.83 28.83 28.83

7607 1.55 146.0 2890 2400 2373 2285 109.9 11.0 493 7613 0.00 2.70 0.00 0.000 260 0.000 0.143 2890 3816 2329 2373 2286 0 0 0 0 0 0 28.83 14.62 28.83

7654 1.55 146.0 2890 3816 2373 2286 104.0 12.3 502 7659 0.00 2.45 0.00 0.000 1030 0.000 0.076 2898 2401 2329 2373 2286 0 0 0 0 0 0 28.83 14.71 28.83

7972 1.58 172.7 2899 2401 2373 2286 72.4 8.8 520 7992 0.00 2.47 13.60 0.321 8708 0.000 0.106 2909 992 2251 2285 2217 0 0 0 0 0 0 28.83 14.65 14.44

8160 1.64 192.9 2909 992 2286 2228 55.8 9.1 557 8180 0.00 2.55 14.90 0.292 9222 0.000 0.116 2910 2404 2164 2200 2128 0 0 0 0 0 0 28.83 14.64 14.46

8499 1.67 196.1 2909 2404 2200 2145 23.5 9.9 579 8510 0.00 2.53 3.72 0.203 8708 0.000 0.113 2918 987 2152 2183 2122 0 0 0 0 0 0 28.83 14.61 14.55

8569 1.71 202.8 2918 987 2187 2132 16.6 9.7 592 8581 0.00 2.58 6.03 0.197 9222 0.000 0.118 2918 2405 2121 2156 2086 0 0 0 0 0 0 28.83 14.63 14.56

8707 end climb: SURFACE_DEPTH_REACHED

state 8707 begin surface coast

8728 end surface coast: CONTROL_FINISHED_OK

state 8729 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	245	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	21	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	12	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	190115,165434,6709.242,-5703.013,29,1.1,29,-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	2.21	MHEAD_RNG_PITCHd_Wd	169.3,15621,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-59.8	D_GRID	443
GPS2	190115,171059,6709.125,-5702.873,19,1.1,19,-32.7

FREEZE	1.74,-1.618,-1.794,0,1,0	SC_FREEKB	7691680
FINISH	1.7,1.026327	_24V_AH	13.47,59.978
SM_CCo	8746,84.20,0.153,0,0,1523,350.04	_10V_AH	13.37,0.000
SM_GC	2.50,7.82,0.28,84.20,0.091,0.147,0.153,209,2550,1523,-10.67,-0.57,350.04,0,0,0,0,0,0,14.70,14.64,14.54	FG_AHR_24Vo	0.000
RAFOS_CLK	371	FG_AHR_10Vo	0.000
RAFOS	6,1421686147,16.833334,16.818611,115,59,58,56,55,52,772,171,210,184,157,196	MEM	270944
RAFOS_FIX	6709.608887,-5711.352051,190115,161656,2,100,0.00	DATA_FILE_SIZE	20131,609
IRIDIUM_FIX	6636.54,-5701.58,190115,165807	CAP_FILE_SIZE	106750,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	260034560,234872832
HUMID	44.92	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.44982	INTR	0,9519.14,0x23769e,7,5
TCM_TEMP	12.70	SOUNDSPEED	1463.4
XPDR_PINGS	1	GPS	190115,194021,6707.921,-5701.010,27,1.0,41,-32.7
ALTIM_TOP_PING	19.6,17.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	470	134.67	nil	0	0	0.00
Roll_motor	59	159	127.80	nil	0	0	0.00
VBD_pump_during_apogee	361	1276	6213.74	nil	0	0	0.00
VBD_pump_during_surface	84	153	173.53	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	8743	7	859.24
Iridium_during_xfer	696	158	1486.36	nil	0	0	0.00
Transponder_ping	0	420	2.83	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	30	8.37
TT8	1267	11	194.45
LPSleep	6108	2	188.67
TT8_Active	545	11	83.64
TT8_Sampling	1647	30	681.39
TT8_CF8	271	36	131.24
TT8_Kalman	0	0	0.00
Analog_circuits	1775	11	261.14
GPS_charging	0	0	0.00
Compass	913	6	73.27
RAFOS	0	0	0.00
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	17	begin dive
19	-1.60	-146.0	209	2554	1508	1514	0.0	0.0	0	122	0.00	0.00	-100.90	0.000	16386	0.000	0.000	210	2555	3253	3220	3287	0	0	0	0	0	0	28.83	28.83	28.83
126	-1.60	-146.0	209	2554	3222	3285	3.5	-1.9	10	152	10.32	2.50	-8.88	0.000	18692	0.470	0.159	2182	3842	3549	3538	3560	0	0	0	0	0	0	14.18	14.38	14.67
380	-1.53	-146.0	2181	3843	3543	3560	41.9	-15.2	60	386	0.15	2.25	0.00	0.000	3078	0.302	0.060	2214	2531	3552	3543	3561	0	0	0	0	0	0	14.35	14.53	28.83
694	-1.53	-146.0	2213	2531	3543	3560	80.9	-12.2	77	700	0.00	2.53	0.00	0.000	260	0.000	0.142	2205	3845	3551	3543	3560	0	0	0	0	0	0	28.83	14.50	28.83
886	-1.53	-146.0	2205	3846	3544	3560	103.4	-10.9	115	891	0.00	2.22	0.00	0.000	1030	0.000	0.060	2205	2541	3551	3543	3559	0	0	0	0	0	0	28.83	14.63	28.83
1199	-1.53	-146.0	2210	2541	3544	3557	134.6	-10.1	132	1200	0.00	0.00	0.00	0.000	6	0.000	0.000	2204	2540	3550	3544	3557	0	0	0	0	0	0	28.83	28.83	28.83
1500	-1.53	-146.0	2205	2541	3544	3556	165.8	-10.1	147	1502	0.00	0.00	0.00	0.000	6	0.000	0.000	2205	2541	3550	3544	3556	0	0	0	0	0	0	28.83	28.83	28.83
1800	-1.53	-146.0	2205	2540	3544	3555	194.3	-9.0	162	1806	0.00	2.47	0.00	0.000	260	0.000	0.139	2196	3839	3549	3544	3554	0	0	0	0	0	0	28.83	14.59	28.83
1944	-1.53	-146.0	2196	3839	3543	3555	208.0	-9.7	190	1949	0.00	2.20	0.00	0.000	1030	0.000	0.060	2198	2542	3549	3544	3554	0	0	0	0	0	0	28.83	14.70	28.83
2267	-1.53	-146.0	2195	2541	3544	3554	237.6	-9.4	209	2272	0.00	2.47	0.00	0.000	260	0.000	0.137	2187	3845	3549	3544	3554	0	0	0	0	0	0	28.83	14.60	28.83
2294	-1.53	-146.0	2187	3846	3544	3554	240.4	-10.4	214	2300	0.12	2.20	0.00	0.000	3078	0.298	0.059	2214	2545	3549	3544	3554	0	0	0	0	0	0	14.50	14.71	28.83
2623	-1.56	-146.0	2214	2545	3544	3555	268.3	-8.4	229	2624	0.00	0.00	0.00	0.000	6	0.000	0.000	2215	2544	3553	3552	3554	0	0	0	0	0	0	28.83	28.83	28.83
2924	-1.59	-146.0	2214	2545	3546	3555	291.9	-7.8	239	2925	0.00	0.00	0.00	0.000	6	0.000	0.000	2214	2545	3550	3546	3554	0	0	0	0	0	0	28.83	28.83	28.83
3223	-1.62	-146.0	2213	2544	3547	3556	314.1	-7.3	249	3224	0.00	0.00	0.00	0.000	6	0.000	0.000	2214	2545	3551	3547	3556	0	0	0	0	0	0	28.83	28.83	28.83
3524	-1.64	-146.0	2213	2545	3548	3557	336.8	-7.8	259	3525	0.00	0.00	0.00	0.000	6	0.000	0.000	2214	2545	3553	3549	3557	0	0	0	0	0	0	28.83	28.83	28.83
3823	-1.67	-146.0	2214	2545	3550	3558	361.4	-8.4	269	3829	0.12	2.45	0.00	0.000	4356	0.150	0.134	2148	3843	3554	3550	3558	0	0	0	0	0	0	14.75	14.65	28.83
3867	-1.62	-146.0	2148	3843	3550	3558	366.0	-10.9	277	3873	0.20	2.17	0.00	0.000	3078	0.292	0.059	2196	2552	3553	3549	3558	0	0	0	0	0	0	14.54	14.76	28.83
4192	-1.62	-146.0	2194	2552	3551	3559	396.4	-9.2	291	4197	0.00	2.42	0.00	0.000	516	0.000	0.105	2195	1148	3555	3551	3559	0	0	0	0	0	0	28.83	14.69	28.83
4225	-1.62	-146.0	2195	1148	3551	3559	399.8	-10.1	297	4231	0.00	2.53	0.00	0.000	1030	0.000	0.116	2188	2554	3555	3551	3559	0	0	0	0	0	0	28.83	14.69	28.83
4559	-1.62	-146.0	2188	2553	3551	3559	433.9	-10.2	313	4560	0.00	0.00	0.00	0.000	6	0.000	0.000	2188	2554	3555	3551	3559	0	0	0	0	0	0	28.83	28.83	28.83
4676	end dive: TARGET_DEPTH_EXCEEDED
state	4676	begin apogee
4682	-0.38	0.0	2188	2396	3551	3559	445.9	-10.1	317	4847	0.98	0.00	160.57	1.277	10246	0.249	0.000	2461	2396	2950	2967	2933	0	0	0	0	0	0	14.57	28.83	13.60
4848	end apogee: CONTROL_FINISHED_OK
state	4848	begin climb
4850	1.60	146.0	2461	2395	2961	2924	449.0	0.0	322	5025	1.40	2.67	162.48	1.163	10756	0.158	0.115	2903	1001	2344	2384	2304	0	0	0	0	0	0	14.04	13.87	13.47
5067	1.60	146.0	2903	1002	2377	2290	427.4	11.2	369	5075	0.00	2.65	0.00	0.000	1030	0.000	0.115	2903	2399	2333	2377	2290	0	0	0	0	0	0	28.83	14.02	28.83
5373	1.60	146.0	2903	2402	2373	2285	389.2	12.6	380	5374	0.00	0.00	0.00	0.000	6	0.000	0.000	2903	2398	2329	2373	2285	0	0	0	0	0	0	28.83	28.83	28.83
5673	1.60	146.0	2903	2398	2373	2284	350.6	12.9	390	5679	0.00	2.50	0.00	0.000	516	0.000	0.111	2913	1002	2328	2372	2284	0	0	0	0	0	0	28.83	14.48	28.83
5706	1.60	146.0	2913	1002	2373	2284	346.1	13.8	396	5712	0.00	2.55	0.00	0.000	1030	0.000	0.113	2913	2401	2328	2373	2283	0	0	0	0	0	0	28.83	14.50	28.83
6041	1.57	146.0	2913	2401	2373	2283	302.7	13.1	412	6042	0.00	0.00	0.00	0.000	6	0.000	0.000	2913	2401	2327	2372	2283	0	0	0	0	0	0	28.83	28.83	28.83
6339	1.55	146.0	2913	2402	2373	2283	262.8	13.2	422	6345	0.12	2.47	0.00	0.000	4612	0.295	0.107	2889	1002	2328	2373	2283	0	0	0	0	0	0	14.50	14.60	28.83
6383	1.55	146.0	2890	1002	2373	2283	257.3	12.3	430	6388	0.00	2.53	0.00	0.000	1030	0.000	0.114	2890	2399	2330	2378	2283	0	0	0	0	0	0	28.83	14.60	28.83
6705	1.55	146.0	2894	2400	2373	2283	217.9	12.5	448	6706	0.00	0.00	0.00	0.000	6	0.000	0.000	2890	2399	2328	2373	2283	0	0	0	0	0	0	28.83	28.83	28.83
7007	1.55	146.0	2890	2400	2373	2283	180.5	12.4	463	7008	0.00	0.00	0.00	0.000	6	0.000	0.000	2889	2400	2328	2373	2283	0	0	0	0	0	0	28.83	28.83	28.83
7307	1.55	146.0	2890	2400	2373	2284	143.8	11.7	478	7308	0.00	0.00	0.00	0.000	6	0.000	0.000	2890	2400	2328	2373	2284	0	0	0	0	0	0	28.83	28.83	28.83
7607	1.55	146.0	2890	2400	2373	2285	109.9	11.0	493	7613	0.00	2.70	0.00	0.000	260	0.000	0.143	2890	3816	2329	2373	2286	0	0	0	0	0	0	28.83	14.62	28.83
7654	1.55	146.0	2890	3816	2373	2286	104.0	12.3	502	7659	0.00	2.45	0.00	0.000	1030	0.000	0.076	2898	2401	2329	2373	2286	0	0	0	0	0	0	28.83	14.71	28.83
7972	1.58	172.7	2899	2401	2373	2286	72.4	8.8	520	7992	0.00	2.47	13.60	0.321	8708	0.000	0.106	2909	992	2251	2285	2217	0	0	0	0	0	0	28.83	14.65	14.44
8160	1.64	192.9	2909	992	2286	2228	55.8	9.1	557	8180	0.00	2.55	14.90	0.292	9222	0.000	0.116	2910	2404	2164	2200	2128	0	0	0	0	0	0	28.83	14.64	14.46
8499	1.67	196.1	2909	2404	2200	2145	23.5	9.9	579	8510	0.00	2.53	3.72	0.203	8708	0.000	0.113	2918	987	2152	2183	2122	0	0	0	0	0	0	28.83	14.61	14.55
8569	1.71	202.8	2918	987	2187	2132	16.6	9.7	592	8581	0.00	2.58	6.03	0.197	9222	0.000	0.118	2918	2405	2121	2156	2086	0	0	0	0	0	0	28.83	14.63	14.56
8707	end climb: SURFACE_DEPTH_REACHED
state	8707	begin surface coast
8728	end surface coast: CONTROL_FINISHED_OK
state	8729	begin surface