Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 251 * 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 251 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 251 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 200115,035321,6707.333,-5655.073,181,99.0,181,-32.6 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 2.12 MHEAD_RNG_PITCHd_Wd 180.1,9511,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -27.9 D_GRID 421

GPS2 200115,035321,6707.333,-5655.073,181,99.0,181,-32.6

Post-dive calculations and measurements:

FREEZE 1.92,-1.602,-1.783,0,3,0 SC_FREEKB 7689760

FINISH 1.9,1.026180 _24V_AH 12.93,61.197

SM_CCo 8322,210.57,0.155,0,0,497,601.23 _10V_AH 13.29,0.000

SM_GC 2.25,8.02,0.30,210.57,0.106,0.148,0.155,205,2557,497,-10.66,-0.28,601.23,0,0,0,0,0,0,14.70,14.62,14.45 FG_AHR_24Vo 0.000

RAFOS_CLK 396 FG_AHR_10Vo 0.000

RAFOS 3,1421742306,8.433333,8.418333,58,57,56,56,56,56,212,234,170,200,122,224 MEM 270956

RAFOS_FIX 6709.477539,-5707.308594,200115,040444,3,118,3.19 DATA_FILE_SIZE 20080,555

IRIDIUM_FIX 6636.54,-5653.92,200115,035043 CAP_FILE_SIZE 101289,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 260034560,234500096

HUMID 43.58 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0

INTERNAL_PRESSURE 8.37169 INTR 0,9297.47,0x23769e,7,5

TCM_TEMP 12.90 SOUNDSPEED 1464.1

XPDR_PINGS 0 GPS 200115,111105,6703.742,-5652.457,36,1.0,36,-32.6

ALTIM_TOP_PING 19.1,16.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 467 130.24 nil 0 0 0.00

Roll_motor 64 160 133.30 nil 0 0 0.00

VBD_pump_during_apogee 381 1958 9652.16 nil 0 0 0.00

VBD_pump_during_surface 210 154 420.74 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 8320 7 779.40

Iridium_during_xfer 121 51 80.62 nil 0 0 0.00

Transponder_ping 0 420 1.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 181 30 72.47

TT8 1173 11 178.88

LPSleep 5882 2 180.59

TT8_Active 699 11 106.63

TT8_Sampling 1193 30 490.75

TT8_CF8 289 36 139.18

TT8_Kalman 0 0 0.00

Analog_circuits 1323 11 193.49

GPS_charging 0 0 0.00

Compass 835 6 66.59

RAFOS 360 1 7.18

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 -146.0 205 2551 1530 1501 0.0 0.0 0 122 0.00 0.00 -101.05 0.000 16386 0.000 0.000 205 2552 3339 3308 3371 0 0 0 0 0 0 28.83 28.83 28.83

126 -1.60 -146.0 205 2552 3310 3372 4.0 -3.1 10 148 10.15 2.53 -5.53 0.000 18692 0.467 0.161 2188 3844 3549 3537 3561 0 0 0 0 0 0 14.30 14.50 14.83

375 -1.55 -146.0 2187 3843 3542 3561 43.3 -14.9 59 381 0.10 2.22 0.00 0.000 3078 0.319 0.061 2207 2535 3551 3542 3561 0 0 0 0 0 0 14.42 14.62 28.83

694 -1.55 -146.0 2206 2535 3543 3561 82.9 -12.0 77 699 0.00 2.40 0.00 0.000 516 0.000 0.097 2207 1145 3551 3543 3560 0 0 0 0 0 0 28.83 14.59 28.83

761 -1.55 -146.0 2207 1145 3543 3560 90.3 -10.7 90 767 0.00 2.45 0.00 0.000 1030 0.000 0.112 2200 2551 3552 3543 3561 0 0 0 0 0 0 28.83 14.59 28.83

1079 -1.55 -146.0 2201 2550 3543 3559 124.5 -10.5 108 1084 0.00 2.40 0.00 0.000 260 0.000 0.136 2191 3836 3550 3543 3558 0 0 0 0 0 0 28.83 14.58 28.83

1153 -1.53 -146.0 2191 3836 3542 3558 132.7 -11.0 122 1159 0.12 2.17 0.00 0.000 3078 0.299 0.059 2218 2552 3550 3543 3557 0 0 0 0 0 0 14.47 14.69 28.83

1467 -1.53 -146.0 2218 2551 3544 3554 164.0 -9.7 139 1473 0.00 2.45 0.00 0.000 260 0.000 0.142 2209 3846 3548 3543 3554 0 0 0 0 0 0 28.83 14.58 28.83

1530 -1.53 -146.0 2209 3846 3546 3554 170.2 -10.0 151 1536 0.00 2.20 0.00 0.000 1030 0.000 0.062 2209 2550 3548 3543 3554 0 0 0 0 0 0 28.83 14.69 28.83

1854 -1.53 -146.0 2209 2549 3543 3554 198.5 -8.6 170 1855 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 2549 3548 3543 3554 0 0 0 0 0 0 28.83 28.83 28.83

2155 -1.53 -146.0 2209 2549 3543 3554 224.2 -8.8 185 2156 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 2549 3550 3543 3558 0 0 0 0 0 0 28.83 28.83 28.83

2455 -1.53 -146.0 2209 2549 3544 3554 251.2 -8.8 200 2460 0.00 2.45 0.00 0.000 260 0.000 0.142 2200 3845 3549 3544 3554 0 0 0 0 0 0 28.83 14.61 28.83

2497 -1.53 -146.0 2200 3845 3544 3555 255.2 -8.9 208 2503 0.00 2.20 0.00 0.000 1030 0.000 0.062 2200 2543 3548 3543 3554 0 0 0 0 0 0 28.83 14.73 28.83

2822 -1.53 -146.0 2200 2543 3545 3554 284.7 -9.4 222 2827 0.00 2.42 0.00 0.000 260 0.000 0.137 2191 3837 3549 3545 3554 0 0 0 0 0 0 28.83 14.63 28.83

2844 -1.53 -146.0 2191 3837 3545 3554 287.1 -9.4 226 2851 0.12 2.17 0.00 0.000 3078 0.292 0.060 2218 2545 3549 3545 3554 0 0 0 0 0 0 14.52 14.74 28.83

3161 -1.56 -146.0 2218 2544 3547 3554 315.7 -9.0 238 3162 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2545 3550 3546 3554 0 0 0 0 0 0 28.83 28.83 28.83

3459 -1.59 -146.0 2218 2545 3547 3556 342.2 -8.7 248 3460 0.00 0.00 0.00 0.000 6 0.000 0.000 2216 2545 3552 3548 3556 0 0 0 0 0 0 28.83 28.83 28.83

3760 -1.62 -146.0 2218 2545 3550 3557 367.6 -8.3 258 3761 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2545 3553 3550 3556 0 0 0 0 0 0 28.83 28.83 28.83

4059 -1.65 -146.0 2218 2545 3551 3558 392.5 -8.2 268 4061 0.12 0.00 0.00 0.000 4102 0.152 0.000 2166 2545 3554 3551 3558 0 0 0 0 0 0 14.76 28.83 28.83

4359 -1.65 -146.0 2166 2545 3551 3559 420.7 -9.4 278 4365 0.10 2.45 0.00 0.000 2308 0.308 0.135 2177 3844 3555 3551 3559 0 0 0 0 0 0 14.58 14.65 28.83

4370 end dive: TARGET_DEPTH_EXCEEDED

state 4370 begin apogee

4377 -0.38 0.0 2174 2395 3551 3559 421.8 -9.1 280 4566 1.05 0.00 179.88 1.336 10246 0.259 0.000 2466 2394 2952 2969 2935 0 0 0 0 1 0 14.54 28.83 13.28

4568 end apogee: CONTROL_FINISHED_OK

state 4568 begin climb

4570 1.60 146.0 2466 2395 2970 2944 425.1 0.0 286 4738 1.40 2.67 152.88 1.958 10756 0.155 0.114 2907 1008 2358 2396 2320 0 0 0 0 1 0 13.97 13.56 12.93

4775 1.60 146.0 2909 1004 2396 2321 405.5 12.2 330 4781 0.00 2.70 0.00 0.000 1030 0.000 0.116 2907 2398 2359 2396 2322 0 0 0 0 0 0 28.83 13.74 28.83

5100 1.57 146.0 2907 2398 2395 2316 363.6 12.9 344 5101 0.00 0.00 0.00 0.000 6 0.000 0.000 2907 2398 2355 2395 2316 0 0 0 0 0 0 28.83 28.83 28.83

5398 1.55 146.0 2906 2395 2395 2314 323.9 13.4 354 5400 0.00 0.00 0.00 0.000 6 0.000 0.000 2907 2398 2354 2395 2314 0 0 0 0 0 0 28.83 28.83 28.83

5699 1.55 146.0 2908 2398 2395 2314 284.3 12.9 364 5704 0.00 2.47 0.00 0.000 516 0.000 0.110 2916 1000 2355 2396 2314 0 0 0 0 0 0 28.83 14.53 28.83

5746 1.55 146.0 2916 1000 2395 2314 278.0 12.5 373 5752 0.12 2.55 0.00 0.000 5126 0.283 0.116 2888 2405 2355 2396 2314 0 0 0 0 0 0 14.45 14.54 28.83

6066 1.55 146.0 2889 2406 2395 2314 239.9 12.0 387 6072 0.00 2.67 0.00 0.000 260 0.000 0.141 2889 3814 2355 2396 2314 0 0 0 0 0 0 28.83 14.56 28.83

6099 1.52 146.0 2889 3815 2395 2314 235.4 12.9 393 6104 0.00 2.45 0.00 0.000 1030 0.000 0.076 2899 2405 2354 2395 2314 0 0 0 0 0 0 28.83 14.63 28.83

6412 1.52 146.0 2899 2404 2398 2314 196.9 12.2 410 6413 0.00 0.00 0.00 0.000 6 0.000 0.000 2898 2405 2354 2396 2313 0 0 0 0 0 0 28.83 28.83 28.83

6713 1.52 146.0 2898 2403 2395 2314 160.6 11.9 425 6718 0.00 2.45 0.00 0.000 516 0.000 0.107 2909 994 2355 2396 2314 0 0 0 0 0 0 28.83 14.64 28.83

6776 1.52 146.0 2909 994 2396 2314 153.0 11.8 437 6782 0.12 2.55 0.00 0.000 5126 0.282 0.115 2881 2410 2353 2392 2314 0 0 0 0 0 0 14.54 14.64 28.83

7100 1.52 146.0 2881 2410 2395 2313 118.8 10.5 456 7101 0.00 0.00 0.00 0.000 6 0.000 0.000 2881 2409 2355 2396 2314 0 0 0 0 0 0 28.83 28.83 28.83

7402 1.52 146.0 2886 2410 2395 2314 87.2 10.5 471 7403 0.00 0.00 0.00 0.000 6 0.000 0.000 2881 2410 2354 2395 2314 0 0 0 0 0 0 28.83 28.83 28.83

7702 1.60 182.5 2881 2410 2394 2315 58.9 8.3 486 7734 0.00 2.72 23.10 0.317 8452 0.000 0.142 2885 3813 2207 2243 2172 0 0 0 0 0 0 28.83 14.59 14.47

7837 1.63 191.4 2881 3813 2243 2174 46.2 9.6 513 7849 0.00 2.45 6.32 0.272 9222 0.000 0.076 2890 2400 2168 2205 2132 0 0 0 0 0 0 28.83 14.66 14.48

8157 1.70 199.0 2890 2399 2206 2139 17.2 9.7 536 8170 0.10 2.58 5.38 0.199 10756 0.170 0.113 2940 985 2137 2173 2102 0 0 0 0 0 0 14.70 14.61 14.56

8186 1.72 220.5 2940 985 2173 2108 14.4 9.0 541 8207 0.00 2.58 13.62 0.190 9222 0.000 0.120 2939 2403 2049 2088 2010 0 0 0 0 0 0 28.83 14.62 14.56

8283 end climb: SURFACE_DEPTH_REACHED

state 8283 begin surface coast

8305 end surface coast: CONTROL_FINISHED_OK

state 8305 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	251	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	200115,035321,6707.333,-5655.073,181,99.0,181,-32.6	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	2.12	MHEAD_RNG_PITCHd_Wd	180.1,9511,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-27.9	D_GRID	421
GPS2	200115,035321,6707.333,-5655.073,181,99.0,181,-32.6

FREEZE	1.92,-1.602,-1.783,0,3,0	SC_FREEKB	7689760
FINISH	1.9,1.026180	_24V_AH	12.93,61.197
SM_CCo	8322,210.57,0.155,0,0,497,601.23	_10V_AH	13.29,0.000
SM_GC	2.25,8.02,0.30,210.57,0.106,0.148,0.155,205,2557,497,-10.66,-0.28,601.23,0,0,0,0,0,0,14.70,14.62,14.45	FG_AHR_24Vo	0.000
RAFOS_CLK	396	FG_AHR_10Vo	0.000
RAFOS	3,1421742306,8.433333,8.418333,58,57,56,56,56,56,212,234,170,200,122,224	MEM	270956
RAFOS_FIX	6709.477539,-5707.308594,200115,040444,3,118,3.19	DATA_FILE_SIZE	20080,555
IRIDIUM_FIX	6636.54,-5653.92,200115,035043	CAP_FILE_SIZE	101289,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	260034560,234500096
HUMID	43.58	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
INTERNAL_PRESSURE	8.37169	INTR	0,9297.47,0x23769e,7,5
TCM_TEMP	12.90	SOUNDSPEED	1464.1
XPDR_PINGS	0	GPS	200115,111105,6703.742,-5652.457,36,1.0,36,-32.6
ALTIM_TOP_PING	19.1,16.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	467	130.24	nil	0	0	0.00
Roll_motor	64	160	133.30	nil	0	0	0.00
VBD_pump_during_apogee	381	1958	9652.16	nil	0	0	0.00
VBD_pump_during_surface	210	154	420.74	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	8320	7	779.40
Iridium_during_xfer	121	51	80.62	nil	0	0	0.00
Transponder_ping	0	420	1.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	181	30	72.47
TT8	1173	11	178.88
LPSleep	5882	2	180.59
TT8_Active	699	11	106.63
TT8_Sampling	1193	30	490.75
TT8_CF8	289	36	139.18
TT8_Kalman	0	0	0.00
Analog_circuits	1323	11	193.49
GPS_charging	0	0	0.00
Compass	835	6	66.59
RAFOS	360	1	7.18
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	205	2551	1530	1501	0.0	0.0	0	122	0.00	0.00	-101.05	0.000	16386	0.000	0.000	205	2552	3339	3308	3371	0	0	0	0	0	0	28.83	28.83	28.83
126	-1.60	-146.0	205	2552	3310	3372	4.0	-3.1	10	148	10.15	2.53	-5.53	0.000	18692	0.467	0.161	2188	3844	3549	3537	3561	0	0	0	0	0	0	14.30	14.50	14.83
375	-1.55	-146.0	2187	3843	3542	3561	43.3	-14.9	59	381	0.10	2.22	0.00	0.000	3078	0.319	0.061	2207	2535	3551	3542	3561	0	0	0	0	0	0	14.42	14.62	28.83
694	-1.55	-146.0	2206	2535	3543	3561	82.9	-12.0	77	699	0.00	2.40	0.00	0.000	516	0.000	0.097	2207	1145	3551	3543	3560	0	0	0	0	0	0	28.83	14.59	28.83
761	-1.55	-146.0	2207	1145	3543	3560	90.3	-10.7	90	767	0.00	2.45	0.00	0.000	1030	0.000	0.112	2200	2551	3552	3543	3561	0	0	0	0	0	0	28.83	14.59	28.83
1079	-1.55	-146.0	2201	2550	3543	3559	124.5	-10.5	108	1084	0.00	2.40	0.00	0.000	260	0.000	0.136	2191	3836	3550	3543	3558	0	0	0	0	0	0	28.83	14.58	28.83
1153	-1.53	-146.0	2191	3836	3542	3558	132.7	-11.0	122	1159	0.12	2.17	0.00	0.000	3078	0.299	0.059	2218	2552	3550	3543	3557	0	0	0	0	0	0	14.47	14.69	28.83
1467	-1.53	-146.0	2218	2551	3544	3554	164.0	-9.7	139	1473	0.00	2.45	0.00	0.000	260	0.000	0.142	2209	3846	3548	3543	3554	0	0	0	0	0	0	28.83	14.58	28.83
1530	-1.53	-146.0	2209	3846	3546	3554	170.2	-10.0	151	1536	0.00	2.20	0.00	0.000	1030	0.000	0.062	2209	2550	3548	3543	3554	0	0	0	0	0	0	28.83	14.69	28.83
1854	-1.53	-146.0	2209	2549	3543	3554	198.5	-8.6	170	1855	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	2549	3548	3543	3554	0	0	0	0	0	0	28.83	28.83	28.83
2155	-1.53	-146.0	2209	2549	3543	3554	224.2	-8.8	185	2156	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	2549	3550	3543	3558	0	0	0	0	0	0	28.83	28.83	28.83
2455	-1.53	-146.0	2209	2549	3544	3554	251.2	-8.8	200	2460	0.00	2.45	0.00	0.000	260	0.000	0.142	2200	3845	3549	3544	3554	0	0	0	0	0	0	28.83	14.61	28.83
2497	-1.53	-146.0	2200	3845	3544	3555	255.2	-8.9	208	2503	0.00	2.20	0.00	0.000	1030	0.000	0.062	2200	2543	3548	3543	3554	0	0	0	0	0	0	28.83	14.73	28.83
2822	-1.53	-146.0	2200	2543	3545	3554	284.7	-9.4	222	2827	0.00	2.42	0.00	0.000	260	0.000	0.137	2191	3837	3549	3545	3554	0	0	0	0	0	0	28.83	14.63	28.83
2844	-1.53	-146.0	2191	3837	3545	3554	287.1	-9.4	226	2851	0.12	2.17	0.00	0.000	3078	0.292	0.060	2218	2545	3549	3545	3554	0	0	0	0	0	0	14.52	14.74	28.83
3161	-1.56	-146.0	2218	2544	3547	3554	315.7	-9.0	238	3162	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2545	3550	3546	3554	0	0	0	0	0	0	28.83	28.83	28.83
3459	-1.59	-146.0	2218	2545	3547	3556	342.2	-8.7	248	3460	0.00	0.00	0.00	0.000	6	0.000	0.000	2216	2545	3552	3548	3556	0	0	0	0	0	0	28.83	28.83	28.83
3760	-1.62	-146.0	2218	2545	3550	3557	367.6	-8.3	258	3761	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2545	3553	3550	3556	0	0	0	0	0	0	28.83	28.83	28.83
4059	-1.65	-146.0	2218	2545	3551	3558	392.5	-8.2	268	4061	0.12	0.00	0.00	0.000	4102	0.152	0.000	2166	2545	3554	3551	3558	0	0	0	0	0	0	14.76	28.83	28.83
4359	-1.65	-146.0	2166	2545	3551	3559	420.7	-9.4	278	4365	0.10	2.45	0.00	0.000	2308	0.308	0.135	2177	3844	3555	3551	3559	0	0	0	0	0	0	14.58	14.65	28.83
4370	end dive: TARGET_DEPTH_EXCEEDED
state	4370	begin apogee
4377	-0.38	0.0	2174	2395	3551	3559	421.8	-9.1	280	4566	1.05	0.00	179.88	1.336	10246	0.259	0.000	2466	2394	2952	2969	2935	0	0	0	0	1	0	14.54	28.83	13.28
4568	end apogee: CONTROL_FINISHED_OK
state	4568	begin climb
4570	1.60	146.0	2466	2395	2970	2944	425.1	0.0	286	4738	1.40	2.67	152.88	1.958	10756	0.155	0.114	2907	1008	2358	2396	2320	0	0	0	0	1	0	13.97	13.56	12.93
4775	1.60	146.0	2909	1004	2396	2321	405.5	12.2	330	4781	0.00	2.70	0.00	0.000	1030	0.000	0.116	2907	2398	2359	2396	2322	0	0	0	0	0	0	28.83	13.74	28.83
5100	1.57	146.0	2907	2398	2395	2316	363.6	12.9	344	5101	0.00	0.00	0.00	0.000	6	0.000	0.000	2907	2398	2355	2395	2316	0	0	0	0	0	0	28.83	28.83	28.83
5398	1.55	146.0	2906	2395	2395	2314	323.9	13.4	354	5400	0.00	0.00	0.00	0.000	6	0.000	0.000	2907	2398	2354	2395	2314	0	0	0	0	0	0	28.83	28.83	28.83
5699	1.55	146.0	2908	2398	2395	2314	284.3	12.9	364	5704	0.00	2.47	0.00	0.000	516	0.000	0.110	2916	1000	2355	2396	2314	0	0	0	0	0	0	28.83	14.53	28.83
5746	1.55	146.0	2916	1000	2395	2314	278.0	12.5	373	5752	0.12	2.55	0.00	0.000	5126	0.283	0.116	2888	2405	2355	2396	2314	0	0	0	0	0	0	14.45	14.54	28.83
6066	1.55	146.0	2889	2406	2395	2314	239.9	12.0	387	6072	0.00	2.67	0.00	0.000	260	0.000	0.141	2889	3814	2355	2396	2314	0	0	0	0	0	0	28.83	14.56	28.83
6099	1.52	146.0	2889	3815	2395	2314	235.4	12.9	393	6104	0.00	2.45	0.00	0.000	1030	0.000	0.076	2899	2405	2354	2395	2314	0	0	0	0	0	0	28.83	14.63	28.83
6412	1.52	146.0	2899	2404	2398	2314	196.9	12.2	410	6413	0.00	0.00	0.00	0.000	6	0.000	0.000	2898	2405	2354	2396	2313	0	0	0	0	0	0	28.83	28.83	28.83
6713	1.52	146.0	2898	2403	2395	2314	160.6	11.9	425	6718	0.00	2.45	0.00	0.000	516	0.000	0.107	2909	994	2355	2396	2314	0	0	0	0	0	0	28.83	14.64	28.83
6776	1.52	146.0	2909	994	2396	2314	153.0	11.8	437	6782	0.12	2.55	0.00	0.000	5126	0.282	0.115	2881	2410	2353	2392	2314	0	0	0	0	0	0	14.54	14.64	28.83
7100	1.52	146.0	2881	2410	2395	2313	118.8	10.5	456	7101	0.00	0.00	0.00	0.000	6	0.000	0.000	2881	2409	2355	2396	2314	0	0	0	0	0	0	28.83	28.83	28.83
7402	1.52	146.0	2886	2410	2395	2314	87.2	10.5	471	7403	0.00	0.00	0.00	0.000	6	0.000	0.000	2881	2410	2354	2395	2314	0	0	0	0	0	0	28.83	28.83	28.83
7702	1.60	182.5	2881	2410	2394	2315	58.9	8.3	486	7734	0.00	2.72	23.10	0.317	8452	0.000	0.142	2885	3813	2207	2243	2172	0	0	0	0	0	0	28.83	14.59	14.47
7837	1.63	191.4	2881	3813	2243	2174	46.2	9.6	513	7849	0.00	2.45	6.32	0.272	9222	0.000	0.076	2890	2400	2168	2205	2132	0	0	0	0	0	0	28.83	14.66	14.48
8157	1.70	199.0	2890	2399	2206	2139	17.2	9.7	536	8170	0.10	2.58	5.38	0.199	10756	0.170	0.113	2940	985	2137	2173	2102	0	0	0	0	0	0	14.70	14.61	14.56
8186	1.72	220.5	2940	985	2173	2108	14.4	9.0	541	8207	0.00	2.58	13.62	0.190	9222	0.000	0.120	2939	2403	2049	2088	2010	0	0	0	0	0	0	28.83	14.62	14.56
8283	end climb: SURFACE_DEPTH_REACHED
state	8283	begin surface coast
8305	end surface coast: CONTROL_FINISHED_OK
state	8305	begin surface