Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 248 * 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 248 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 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 21 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 248 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 190115,195240,6707.846,-5701.091,181,99.0,181,-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 2.62 MHEAD_RNG_PITCHd_Wd 166.2,13035,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -50.4 D_GRID 446

GPS2 190115,195240,6707.846,-5701.091,181,99.0,181,-32.7

Post-dive calculations and measurements:

FREEZE 2.65,-1.564,-1.783,0,3,0 SC_FREEKB 7690720

FINISH 2.7,1.026169 _24V_AH 13.49,60.565

SM_CCo 8990,230.48,0.158,0,0,498,601.23 _10V_AH 13.39,0.000

SM_GC 2.25,7.85,0.32,230.48,0.099,0.148,0.158,204,2560,498,-10.65,-0.25,601.23,0,0,0,0,0,0,14.73,14.65,14.45 FG_AHR_24Vo 0.000

RAFOS_CLK 426 FG_AHR_10Vo 0.000

RAFOS 5,1421714462,0.700000,0.683889,64,60,55,55,55,48,213,186,169,135,156,111 MEM 270964

RAFOS_FIX 6709.966797,-5710.528320,190115,202044,3,116,2.56 DATA_FILE_SIZE 20083,589

IRIDIUM_FIX 6636.54,-5658.57,190115,194358 CAP_FILE_SIZE 109833,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 260034560,234676224

HUMID 43.85 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.37169 INTR 0,9717.72,0x23769e,7,5

TCM_TEMP 12.90 SOUNDSPEED 1464.0

XPDR_PINGS 16 GPS 200115,033559,6707.248,-5655.423,40,1.0,40,-32.6

ALTIM_TOP_PING 19.1,16.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 465 134.12 nil 0 0 0.00

Roll_motor 79 161 172.08 nil 0 0 0.00

VBD_pump_during_apogee 353 1259 6015.59 nil 0 0 0.00

VBD_pump_during_surface 230 158 492.34 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 8887 7 863.42

Iridium_during_xfer 120 51 83.58 nil 0 0 0.00

Transponder_ping 4 420 24.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 181 30 73.02

TT8 1309 11 201.05

LPSleep 6343 2 196.21

TT8_Active 729 11 112.10

TT8_Sampling 1243 30 515.09

TT8_CF8 301 36 146.28

TT8_Kalman 0 0 0.00

Analog_circuits 1376 11 202.71

GPS_charging 0 0 0.00

Compass 883 6 71.01

RAFOS 0 0 0.00

Transponder 3 30 1.56

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 -146.0 204 2553 1521 1502 0.0 0.0 0 102 0.00 0.00 -81.25 0.000 16386 0.000 0.000 205 2553 2992 2966 3019 0 0 0 0 0 0 28.83 28.83 28.83

106 -1.60 -146.0 204 2553 2967 3020 3.0 -0.6 8 147 10.07 2.53 -21.42 0.000 18692 0.465 0.161 2183 3841 3549 3539 3559 0 0 0 0 0 0 14.32 14.50 14.82

260 -1.54 -146.0 2183 3840 3543 3560 22.2 -14.4 38 266 0.12 2.22 0.00 0.000 3078 0.304 0.061 2209 2535 3551 3543 3559 0 0 0 0 0 0 14.43 14.63 28.83

584 -1.54 -146.0 2209 2535 3544 3560 62.8 -12.2 56 589 0.00 2.50 0.00 0.000 260 0.000 0.142 2200 3840 3551 3544 3559 0 0 0 0 0 0 28.83 14.56 28.83

767 -1.52 -146.0 2201 3839 3544 3559 85.7 -12.8 92 773 0.00 2.17 0.00 0.000 1030 0.000 0.060 2200 2550 3551 3543 3559 0 0 0 0 0 0 28.83 14.64 28.83

1091 -1.52 -146.0 2201 2549 3544 3557 120.3 -10.5 111 1096 0.00 2.42 0.00 0.000 516 0.000 0.099 2200 1148 3550 3544 3556 0 0 0 0 0 0 28.83 14.61 28.83

1118 -1.52 -146.0 2201 1148 3543 3557 123.5 -10.4 116 1124 0.10 2.53 0.00 0.000 3078 0.332 0.116 2213 2550 3550 3543 3557 0 0 0 0 0 0 14.47 14.62 28.83

1437 -1.52 -146.0 2213 2550 3543 3554 156.1 -9.7 134 1438 0.00 0.00 0.00 0.000 6 0.000 0.000 2214 2550 3549 3544 3554 0 0 0 0 0 0 28.83 28.83 28.83

1738 -1.54 -146.0 2214 2550 3543 3553 184.6 -9.2 149 1744 0.00 2.45 0.00 0.000 516 0.000 0.103 2214 1148 3548 3544 3553 0 0 0 0 0 0 28.83 14.64 28.83

1782 -1.57 -146.0 2213 1148 3543 3553 188.9 -9.2 157 1788 0.00 2.53 0.00 0.000 1030 0.000 0.116 2207 2550 3545 3539 3552 0 0 0 0 0 0 28.83 14.64 28.83

2106 -1.57 -146.0 2207 2550 3543 3553 218.6 -8.8 176 2111 0.00 2.42 0.00 0.000 260 0.000 0.137 2198 3844 3548 3543 3553 0 0 0 0 0 0 28.83 14.61 28.83

2133 -1.57 -146.0 2198 3844 3543 3553 221.3 -9.7 181 2139 0.00 2.20 0.00 0.000 1030 0.000 0.060 2198 2546 3548 3544 3553 0 0 0 0 0 0 28.83 14.72 28.83

2451 -1.57 -146.0 2198 2546 3544 3553 249.7 -8.7 199 2453 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2545 3548 3544 3553 0 0 0 0 0 0 28.83 28.83 28.83

2772 -1.57 -146.0 2198 2545 3544 3554 276.9 -8.3 210 2778 0.00 2.47 0.00 0.000 260 0.000 0.140 2189 3845 3549 3545 3554 0 0 0 0 0 0 28.83 14.63 28.83

2825 -1.57 -146.0 2189 3845 3544 3553 281.7 -8.9 220 2830 0.00 2.20 0.00 0.000 1030 0.000 0.060 2189 2541 3549 3544 3554 0 0 0 0 0 0 28.83 14.73 28.83

3140 -1.57 -146.0 2189 2540 3546 3553 308.4 -8.4 232 3145 0.00 2.45 0.00 0.000 260 0.000 0.136 2181 3842 3550 3546 3554 0 0 0 0 0 0 28.83 14.64 28.83

3188 -1.57 -146.0 2181 3842 3544 3549 313.0 -9.4 241 3194 0.12 2.17 0.00 0.000 3078 0.298 0.060 2207 2551 3550 3546 3554 0 0 0 0 0 0 14.54 14.76 28.83

3509 -1.59 -146.0 2207 2550 3547 3554 339.3 -8.3 254 3510 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2550 3551 3548 3554 0 0 0 0 0 0 28.83 28.83 28.83

3808 -1.61 -146.0 2207 2550 3549 3554 363.1 -7.8 264 3809 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 2550 3551 3549 3554 0 0 0 0 0 0 28.83 28.83 28.83

4107 -1.64 -146.0 2207 2550 3550 3555 387.0 -7.9 274 4113 0.00 2.42 0.00 0.000 260 0.000 0.139 2199 3836 3552 3550 3555 0 0 0 0 0 0 28.83 14.65 28.83

4165 -1.64 -146.0 2199 3836 3550 3555 391.8 -8.9 285 4171 0.00 2.17 0.00 0.000 1030 0.000 0.060 2198 2543 3552 3549 3555 0 0 0 0 0 0 28.83 14.76 28.83

4472 -1.64 -146.0 2198 2543 3551 3557 417.5 -8.6 296 4477 0.00 2.45 0.00 0.000 260 0.000 0.138 2190 3846 3553 3551 3556 0 0 0 0 0 0 28.83 14.65 28.83

4500 -1.64 -146.0 2190 3846 3551 3556 420.3 -9.7 301 4506 0.00 2.17 0.00 0.000 1030 0.000 0.060 2190 2553 3553 3551 3556 0 0 0 0 0 0 28.83 14.77 28.83

4807 -1.82 -146.0 2190 2552 3551 3558 438.7 -1.1 312 4809 0.12 0.00 0.00 0.000 4102 0.165 0.000 2136 2552 3554 3551 3558 0 0 0 0 0 0 14.73 28.83 28.83

4953 end dive: NO_VERTICAL_VELOCITY

state 4953 begin apogee

4959 -0.38 0.0 2136 2401 3551 3558 438.7 0.0 317 5123 1.08 0.00 160.02 1.260 10246 0.176 0.000 2468 2401 2951 2969 2933 0 0 0 0 0 0 14.63 28.83 13.62

5124 end apogee: CONTROL_FINISHED_OK

state 5124 begin climb

5127 1.60 146.0 2468 2401 2960 2922 438.5 0.0 322 5301 1.38 2.85 163.20 1.148 10500 0.155 0.142 2895 3808 2344 2385 2304 0 0 0 0 0 0 14.06 13.88 13.49

5319 1.57 146.0 2896 3804 2373 2295 419.7 13.7 344 5325 0.00 2.55 0.00 0.000 1030 0.000 0.076 2905 2410 2333 2373 2294 0 0 0 0 0 0 28.83 14.01 28.83

5654 1.57 146.0 2905 2410 2369 2283 375.7 13.3 360 5660 0.00 2.58 0.00 0.000 516 0.000 0.116 2915 985 2326 2368 2284 0 0 0 0 0 0 28.83 14.36 28.83

5706 1.57 146.0 2914 985 2368 2282 368.4 13.5 370 5713 0.12 2.60 0.00 0.000 5126 0.288 0.116 2888 2403 2325 2368 2283 0 0 0 0 0 0 14.30 14.38 28.83

6021 1.57 146.0 2888 2400 2368 2282 328.6 12.7 382 6023 0.00 0.00 0.00 0.000 6 0.000 0.000 2888 2400 2325 2368 2282 0 0 0 0 0 0 28.83 28.83 28.83

6321 1.57 146.0 2888 2400 2368 2282 289.5 13.0 392 6326 0.00 2.53 0.00 0.000 516 0.000 0.112 2898 984 2324 2368 2281 0 0 0 0 0 0 28.83 14.57 28.83

6354 1.57 146.0 2897 983 2368 2281 285.1 12.9 398 6360 0.00 2.55 0.00 0.000 1030 0.000 0.113 2897 2397 2328 2368 2288 0 0 0 0 0 0 28.83 14.57 28.83

6669 1.57 146.0 2897 2397 2368 2281 244.4 13.0 414 6670 0.00 0.00 0.00 0.000 6 0.000 0.000 2897 2397 2324 2368 2281 0 0 0 0 0 0 28.83 28.83 28.83

6968 1.57 146.0 2897 2397 2368 2281 205.2 13.1 429 6970 0.00 0.00 0.00 0.000 6 0.000 0.000 2897 2397 2324 2368 2281 0 0 0 0 0 0 28.83 28.83 28.83

7269 1.57 146.0 2897 2397 2368 2281 168.5 11.5 444 7274 0.00 2.47 0.00 0.000 516 0.000 0.109 2907 992 2324 2368 2281 0 0 0 0 0 0 28.83 14.64 28.83

7356 1.57 146.0 2907 991 2367 2281 157.8 12.6 461 7362 0.00 2.53 0.00 0.000 1030 0.000 0.113 2907 2401 2324 2368 2281 0 0 0 0 0 0 28.83 14.64 28.83

7674 1.57 146.0 2907 2400 2368 2281 117.7 12.9 479 7680 0.00 2.67 0.00 0.000 260 0.000 0.141 2907 3810 2325 2368 2282 0 0 0 0 0 0 28.83 14.64 28.83

7718 1.53 146.0 2907 3810 2368 2282 112.1 13.5 487 7724 0.15 2.45 0.00 0.000 5126 0.285 0.076 2882 2392 2325 2369 2282 0 0 0 0 0 0 14.55 14.69 28.83

8043 1.59 165.7 2883 2392 2368 2283 80.4 9.1 506 8057 0.00 2.45 8.82 0.295 8708 0.000 0.106 2892 993 2277 2313 2241 0 0 0 0 0 0 28.83 14.64 14.41

8105 1.62 167.1 2892 993 2317 2258 74.5 9.9 518 8115 0.00 2.53 3.42 0.227 9222 0.000 0.114 2892 2400 2270 2304 2237 0 0 0 0 0 0 28.83 14.64 14.43

8429 1.68 188.2 2892 2400 2314 2257 45.6 9.0 537 8453 0.10 2.75 16.45 0.265 10500 0.168 0.140 2934 3815 2184 2217 2152 0 0 0 0 0 0 14.72 14.58 14.47

8545 1.64 188.2 2933 3816 2221 2166 31.7 12.3 560 8554 0.15 2.45 2.00 0.183 13318 0.291 0.076 2909 2399 2181 2213 2149 0 0 0 0 0 0 14.51 14.66 14.58

8842 end climb: SURFACE_DEPTH_REACHED

state 8842 begin surface coast

8871 end surface coast: CONTROL_FINISHED_OK

state 8871 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	248	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	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	190115,195240,6707.846,-5701.091,181,99.0,181,-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	2.62	MHEAD_RNG_PITCHd_Wd	166.2,13035,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-50.4	D_GRID	446
GPS2	190115,195240,6707.846,-5701.091,181,99.0,181,-32.7

FREEZE	2.65,-1.564,-1.783,0,3,0	SC_FREEKB	7690720
FINISH	2.7,1.026169	_24V_AH	13.49,60.565
SM_CCo	8990,230.48,0.158,0,0,498,601.23	_10V_AH	13.39,0.000
SM_GC	2.25,7.85,0.32,230.48,0.099,0.148,0.158,204,2560,498,-10.65,-0.25,601.23,0,0,0,0,0,0,14.73,14.65,14.45	FG_AHR_24Vo	0.000
RAFOS_CLK	426	FG_AHR_10Vo	0.000
RAFOS	5,1421714462,0.700000,0.683889,64,60,55,55,55,48,213,186,169,135,156,111	MEM	270964
RAFOS_FIX	6709.966797,-5710.528320,190115,202044,3,116,2.56	DATA_FILE_SIZE	20083,589
IRIDIUM_FIX	6636.54,-5658.57,190115,194358	CAP_FILE_SIZE	109833,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	260034560,234676224
HUMID	43.85	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.37169	INTR	0,9717.72,0x23769e,7,5
TCM_TEMP	12.90	SOUNDSPEED	1464.0
XPDR_PINGS	16	GPS	200115,033559,6707.248,-5655.423,40,1.0,40,-32.6
ALTIM_TOP_PING	19.1,16.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	465	134.12	nil	0	0	0.00
Roll_motor	79	161	172.08	nil	0	0	0.00
VBD_pump_during_apogee	353	1259	6015.59	nil	0	0	0.00
VBD_pump_during_surface	230	158	492.34	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	8887	7	863.42
Iridium_during_xfer	120	51	83.58	nil	0	0	0.00
Transponder_ping	4	420	24.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	181	30	73.02
TT8	1309	11	201.05
LPSleep	6343	2	196.21
TT8_Active	729	11	112.10
TT8_Sampling	1243	30	515.09
TT8_CF8	301	36	146.28
TT8_Kalman	0	0	0.00
Analog_circuits	1376	11	202.71
GPS_charging	0	0	0.00
Compass	883	6	71.01
RAFOS	0	0	0.00
Transponder	3	30	1.56

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	204	2553	1521	1502	0.0	0.0	0	102	0.00	0.00	-81.25	0.000	16386	0.000	0.000	205	2553	2992	2966	3019	0	0	0	0	0	0	28.83	28.83	28.83
106	-1.60	-146.0	204	2553	2967	3020	3.0	-0.6	8	147	10.07	2.53	-21.42	0.000	18692	0.465	0.161	2183	3841	3549	3539	3559	0	0	0	0	0	0	14.32	14.50	14.82
260	-1.54	-146.0	2183	3840	3543	3560	22.2	-14.4	38	266	0.12	2.22	0.00	0.000	3078	0.304	0.061	2209	2535	3551	3543	3559	0	0	0	0	0	0	14.43	14.63	28.83
584	-1.54	-146.0	2209	2535	3544	3560	62.8	-12.2	56	589	0.00	2.50	0.00	0.000	260	0.000	0.142	2200	3840	3551	3544	3559	0	0	0	0	0	0	28.83	14.56	28.83
767	-1.52	-146.0	2201	3839	3544	3559	85.7	-12.8	92	773	0.00	2.17	0.00	0.000	1030	0.000	0.060	2200	2550	3551	3543	3559	0	0	0	0	0	0	28.83	14.64	28.83
1091	-1.52	-146.0	2201	2549	3544	3557	120.3	-10.5	111	1096	0.00	2.42	0.00	0.000	516	0.000	0.099	2200	1148	3550	3544	3556	0	0	0	0	0	0	28.83	14.61	28.83
1118	-1.52	-146.0	2201	1148	3543	3557	123.5	-10.4	116	1124	0.10	2.53	0.00	0.000	3078	0.332	0.116	2213	2550	3550	3543	3557	0	0	0	0	0	0	14.47	14.62	28.83
1437	-1.52	-146.0	2213	2550	3543	3554	156.1	-9.7	134	1438	0.00	0.00	0.00	0.000	6	0.000	0.000	2214	2550	3549	3544	3554	0	0	0	0	0	0	28.83	28.83	28.83
1738	-1.54	-146.0	2214	2550	3543	3553	184.6	-9.2	149	1744	0.00	2.45	0.00	0.000	516	0.000	0.103	2214	1148	3548	3544	3553	0	0	0	0	0	0	28.83	14.64	28.83
1782	-1.57	-146.0	2213	1148	3543	3553	188.9	-9.2	157	1788	0.00	2.53	0.00	0.000	1030	0.000	0.116	2207	2550	3545	3539	3552	0	0	0	0	0	0	28.83	14.64	28.83
2106	-1.57	-146.0	2207	2550	3543	3553	218.6	-8.8	176	2111	0.00	2.42	0.00	0.000	260	0.000	0.137	2198	3844	3548	3543	3553	0	0	0	0	0	0	28.83	14.61	28.83
2133	-1.57	-146.0	2198	3844	3543	3553	221.3	-9.7	181	2139	0.00	2.20	0.00	0.000	1030	0.000	0.060	2198	2546	3548	3544	3553	0	0	0	0	0	0	28.83	14.72	28.83
2451	-1.57	-146.0	2198	2546	3544	3553	249.7	-8.7	199	2453	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2545	3548	3544	3553	0	0	0	0	0	0	28.83	28.83	28.83
2772	-1.57	-146.0	2198	2545	3544	3554	276.9	-8.3	210	2778	0.00	2.47	0.00	0.000	260	0.000	0.140	2189	3845	3549	3545	3554	0	0	0	0	0	0	28.83	14.63	28.83
2825	-1.57	-146.0	2189	3845	3544	3553	281.7	-8.9	220	2830	0.00	2.20	0.00	0.000	1030	0.000	0.060	2189	2541	3549	3544	3554	0	0	0	0	0	0	28.83	14.73	28.83
3140	-1.57	-146.0	2189	2540	3546	3553	308.4	-8.4	232	3145	0.00	2.45	0.00	0.000	260	0.000	0.136	2181	3842	3550	3546	3554	0	0	0	0	0	0	28.83	14.64	28.83
3188	-1.57	-146.0	2181	3842	3544	3549	313.0	-9.4	241	3194	0.12	2.17	0.00	0.000	3078	0.298	0.060	2207	2551	3550	3546	3554	0	0	0	0	0	0	14.54	14.76	28.83
3509	-1.59	-146.0	2207	2550	3547	3554	339.3	-8.3	254	3510	0.00	0.00	0.00	0.000	6	0.000	0.000	2207	2550	3551	3548	3554	0	0	0	0	0	0	28.83	28.83	28.83
3808	-1.61	-146.0	2207	2550	3549	3554	363.1	-7.8	264	3809	0.00	0.00	0.00	0.000	6	0.000	0.000	2208	2550	3551	3549	3554	0	0	0	0	0	0	28.83	28.83	28.83
4107	-1.64	-146.0	2207	2550	3550	3555	387.0	-7.9	274	4113	0.00	2.42	0.00	0.000	260	0.000	0.139	2199	3836	3552	3550	3555	0	0	0	0	0	0	28.83	14.65	28.83
4165	-1.64	-146.0	2199	3836	3550	3555	391.8	-8.9	285	4171	0.00	2.17	0.00	0.000	1030	0.000	0.060	2198	2543	3552	3549	3555	0	0	0	0	0	0	28.83	14.76	28.83
4472	-1.64	-146.0	2198	2543	3551	3557	417.5	-8.6	296	4477	0.00	2.45	0.00	0.000	260	0.000	0.138	2190	3846	3553	3551	3556	0	0	0	0	0	0	28.83	14.65	28.83
4500	-1.64	-146.0	2190	3846	3551	3556	420.3	-9.7	301	4506	0.00	2.17	0.00	0.000	1030	0.000	0.060	2190	2553	3553	3551	3556	0	0	0	0	0	0	28.83	14.77	28.83
4807	-1.82	-146.0	2190	2552	3551	3558	438.7	-1.1	312	4809	0.12	0.00	0.00	0.000	4102	0.165	0.000	2136	2552	3554	3551	3558	0	0	0	0	0	0	14.73	28.83	28.83
4953	end dive: NO_VERTICAL_VELOCITY
state	4953	begin apogee
4959	-0.38	0.0	2136	2401	3551	3558	438.7	0.0	317	5123	1.08	0.00	160.02	1.260	10246	0.176	0.000	2468	2401	2951	2969	2933	0	0	0	0	0	0	14.63	28.83	13.62
5124	end apogee: CONTROL_FINISHED_OK
state	5124	begin climb
5127	1.60	146.0	2468	2401	2960	2922	438.5	0.0	322	5301	1.38	2.85	163.20	1.148	10500	0.155	0.142	2895	3808	2344	2385	2304	0	0	0	0	0	0	14.06	13.88	13.49
5319	1.57	146.0	2896	3804	2373	2295	419.7	13.7	344	5325	0.00	2.55	0.00	0.000	1030	0.000	0.076	2905	2410	2333	2373	2294	0	0	0	0	0	0	28.83	14.01	28.83
5654	1.57	146.0	2905	2410	2369	2283	375.7	13.3	360	5660	0.00	2.58	0.00	0.000	516	0.000	0.116	2915	985	2326	2368	2284	0	0	0	0	0	0	28.83	14.36	28.83
5706	1.57	146.0	2914	985	2368	2282	368.4	13.5	370	5713	0.12	2.60	0.00	0.000	5126	0.288	0.116	2888	2403	2325	2368	2283	0	0	0	0	0	0	14.30	14.38	28.83
6021	1.57	146.0	2888	2400	2368	2282	328.6	12.7	382	6023	0.00	0.00	0.00	0.000	6	0.000	0.000	2888	2400	2325	2368	2282	0	0	0	0	0	0	28.83	28.83	28.83
6321	1.57	146.0	2888	2400	2368	2282	289.5	13.0	392	6326	0.00	2.53	0.00	0.000	516	0.000	0.112	2898	984	2324	2368	2281	0	0	0	0	0	0	28.83	14.57	28.83
6354	1.57	146.0	2897	983	2368	2281	285.1	12.9	398	6360	0.00	2.55	0.00	0.000	1030	0.000	0.113	2897	2397	2328	2368	2288	0	0	0	0	0	0	28.83	14.57	28.83
6669	1.57	146.0	2897	2397	2368	2281	244.4	13.0	414	6670	0.00	0.00	0.00	0.000	6	0.000	0.000	2897	2397	2324	2368	2281	0	0	0	0	0	0	28.83	28.83	28.83
6968	1.57	146.0	2897	2397	2368	2281	205.2	13.1	429	6970	0.00	0.00	0.00	0.000	6	0.000	0.000	2897	2397	2324	2368	2281	0	0	0	0	0	0	28.83	28.83	28.83
7269	1.57	146.0	2897	2397	2368	2281	168.5	11.5	444	7274	0.00	2.47	0.00	0.000	516	0.000	0.109	2907	992	2324	2368	2281	0	0	0	0	0	0	28.83	14.64	28.83
7356	1.57	146.0	2907	991	2367	2281	157.8	12.6	461	7362	0.00	2.53	0.00	0.000	1030	0.000	0.113	2907	2401	2324	2368	2281	0	0	0	0	0	0	28.83	14.64	28.83
7674	1.57	146.0	2907	2400	2368	2281	117.7	12.9	479	7680	0.00	2.67	0.00	0.000	260	0.000	0.141	2907	3810	2325	2368	2282	0	0	0	0	0	0	28.83	14.64	28.83
7718	1.53	146.0	2907	3810	2368	2282	112.1	13.5	487	7724	0.15	2.45	0.00	0.000	5126	0.285	0.076	2882	2392	2325	2369	2282	0	0	0	0	0	0	14.55	14.69	28.83
8043	1.59	165.7	2883	2392	2368	2283	80.4	9.1	506	8057	0.00	2.45	8.82	0.295	8708	0.000	0.106	2892	993	2277	2313	2241	0	0	0	0	0	0	28.83	14.64	14.41
8105	1.62	167.1	2892	993	2317	2258	74.5	9.9	518	8115	0.00	2.53	3.42	0.227	9222	0.000	0.114	2892	2400	2270	2304	2237	0	0	0	0	0	0	28.83	14.64	14.43
8429	1.68	188.2	2892	2400	2314	2257	45.6	9.0	537	8453	0.10	2.75	16.45	0.265	10500	0.168	0.140	2934	3815	2184	2217	2152	0	0	0	0	0	0	14.72	14.58	14.47
8545	1.64	188.2	2933	3816	2221	2166	31.7	12.3	560	8554	0.15	2.45	2.00	0.183	13318	0.291	0.076	2909	2399	2181	2213	2149	0	0	0	0	0	0	14.51	14.66	14.58
8842	end climb: SURFACE_DEPTH_REACHED
state	8842	begin surface coast
8871	end surface coast: CONTROL_FINISHED_OK
state	8871	begin surface