Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 254 * 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 254 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 254 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 200115,164344,6709.784,-5702.632,0,2089.5,0,-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 2.44 MHEAD_RNG_PITCHd_Wd 172.5,16417,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -30.3 D_GRID 419

GPS2 200115,164344,6709.784,-5702.632,181,99.0,181,-32.6

Post-dive calculations and measurements:

FREEZE 1.75,-1.472,-1.612,0,3,0 SC_FREEKB 7688800

FINISH 1.7,1.023725 _24V_AH 12.86,61.835

SM_CCo 8346,210.07,0.156,0,0,499,601.23 _10V_AH 13.21,0.000

SM_GC 2.11,8.02,0.30,210.07,0.112,0.147,0.156,209,2559,499,-10.65,-0.23,601.23,0,0,0,0,0,0,14.67,14.59,14.42 FG_AHR_24Vo 0.000

RAFOS_CLK 399 FG_AHR_10Vo 0.000

RAFOS 0,1421784072,20.033333,20.020000,64,58,58,57,55,54,166,147,179,189,198,213 MEM 270924

RAFOS_FIX 6709.784180,-5702.631836,200115,161644,2,90,0.68 DATA_FILE_SIZE 20052,558

IRIDIUM_FIX 6636.54,-5652.31,200115,111442 CAP_FILE_SIZE 101001,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260034560,234283008

HUMID 43.89 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0

INTERNAL_PRESSURE 8.36193 INTR 0,10995.13,0x23769e,7,5

TCM_TEMP 12.60 SOUNDSPEED 1461.8

XPDR_PINGS 8 GPS 200115,204035,6703.229,-5644.984,25,1.9,25,-32.5

ALTIM_TOP_PING 19.1,17.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 475 130.95 nil 0 0 0.00

Roll_motor 65 163 137.48 nil 0 0 0.00

VBD_pump_during_apogee 350 1936 8733.58 nil 0 0 0.00

VBD_pump_during_surface 210 156 421.61 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 8345 7 782.23

Iridium_during_xfer 122 51 80.46 nil 0 0 0.00

Transponder_ping 2 420 12.15 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 181 30 72.04

TT8 1155 11 175.15

LPSleep 5901 2 180.10

TT8_Active 710 11 107.58

TT8_Sampling 1205 30 492.76

TT8_CF8 293 36 140.49

TT8_Kalman 0 0 0.00

Analog_circuits 1341 11 194.92

GPS_charging 0 0 0.00

Compass 843 6 66.84

RAFOS 1800 1 35.67

Transponder 2 30 1.04

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -1.60 -146.0 225 2556 541 477 0.0 0.0 0 163 0.00 0.00 -140.80 0.000 16386 0.000 0.000 225 2556 3268 3236 3300 0 0 0 0 0 0 28.83 28.83 28.83

166 -1.60 -146.0 225 2556 3237 3301 3.4 -1.5 14 192 10.27 2.47 -8.32 0.000 18692 0.476 0.164 2186 3837 3549 3538 3560 0 0 0 0 0 0 14.26 14.50 14.81

420 -1.54 -146.0 2186 3837 3542 3561 42.5 -14.3 64 426 0.12 2.22 0.00 0.000 3078 0.315 0.062 2211 2535 3551 3542 3561 0 0 0 0 0 0 14.38 14.61 28.83

734 -1.54 -146.0 2211 2535 3544 3561 83.3 -12.6 81 740 0.00 2.40 0.00 0.000 516 0.000 0.096 2212 1150 3552 3543 3561 0 0 0 0 0 0 28.83 14.57 28.83

837 -1.54 -146.0 2212 1150 3543 3561 96.4 -12.5 101 843 0.00 2.53 0.00 0.000 1030 0.000 0.112 2205 2549 3551 3543 3560 0 0 0 0 0 0 28.83 14.55 28.83

1160 -1.54 -146.0 2205 2549 3543 3563 133.4 -11.2 120 1166 0.00 2.42 0.00 0.000 260 0.000 0.137 2195 3837 3551 3543 3559 0 0 0 0 0 0 28.83 14.55 28.83

1238 -1.51 -146.0 2195 3838 3543 3559 142.7 -11.6 135 1245 0.10 2.20 0.00 0.000 3078 0.313 0.059 2215 2540 3551 3543 3559 0 0 0 0 0 0 14.42 14.64 28.83

1543 -1.51 -146.0 2215 2539 3542 3557 174.7 -10.3 151 1544 0.00 0.00 0.00 0.000 6 0.000 0.000 2215 2539 3550 3543 3557 0 0 0 0 0 0 28.83 28.83 28.83

1845 -1.51 -146.0 2216 2540 3543 3557 204.0 -9.6 166 1846 0.00 0.00 0.00 0.000 6 0.000 0.000 2215 2540 3549 3543 3556 0 0 0 0 0 0 28.83 28.83 28.83

2145 -1.53 -146.0 2215 2540 3543 3558 230.6 -8.3 181 2151 0.00 2.47 0.00 0.000 260 0.000 0.138 2206 3846 3549 3543 3556 0 0 0 0 0 0 28.83 14.58 28.83

2193 -1.53 -146.0 2206 3846 3543 3556 234.9 -9.0 190 2198 0.00 2.20 0.00 0.000 1030 0.000 0.060 2206 2547 3549 3543 3556 0 0 0 0 0 0 28.83 14.70 28.83

2522 -1.53 -146.0 2206 2546 3544 3556 262.7 -8.2 206 2524 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2546 3550 3544 3557 0 0 0 0 0 0 28.83 28.83 28.83

2821 -1.53 -146.0 2206 2549 3545 3557 285.5 -7.4 216 2822 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2546 3551 3546 3557 0 0 0 0 0 0 28.83 28.83 28.83

3121 -1.53 -146.0 2206 2546 3548 3558 308.7 -7.9 226 3123 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2546 3553 3548 3558 0 0 0 0 0 0 28.83 28.83 28.83

3421 -1.53 -146.0 2206 2546 3549 3559 333.2 -8.3 236 3422 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2546 3554 3549 3559 0 0 0 0 0 0 28.83 28.83 28.83

3721 -1.53 -146.0 2206 2546 3551 3559 359.3 -8.8 246 3723 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 2547 3555 3550 3560 0 0 0 0 0 0 28.83 28.83 28.83

4021 -1.53 -146.0 2206 2546 3552 3560 385.3 -8.5 256 4026 0.00 2.45 0.00 0.000 260 0.000 0.139 2197 3845 3555 3551 3559 0 0 0 0 0 0 28.83 14.62 28.83

4054 -1.53 -146.0 2197 3846 3552 3560 388.3 -10.1 262 4059 0.00 2.17 0.00 0.000 1030 0.000 0.060 2197 2552 3559 3558 3560 0 0 0 0 0 0 28.83 14.75 28.83

4387 end dive: TARGET_DEPTH_EXCEEDED

state 4387 begin apogee

4393 -0.38 0.0 2197 2398 3551 3560 419.9 -9.3 278 4547 0.98 0.00 145.38 1.901 10246 0.252 0.000 2467 2397 2950 2967 2934 0 0 0 0 1 0 14.52 28.83 13.22

4548 end apogee: CONTROL_FINISHED_OK

state 4548 begin climb

4551 1.60 146.0 2467 2397 2968 2940 422.5 0.0 283 4722 1.40 2.78 153.38 1.936 10756 0.161 0.113 2903 996 2358 2395 2321 0 0 0 0 1 0 13.90 13.47 12.86

4744 1.60 146.0 2903 997 2394 2323 404.8 12.0 324 4751 0.00 2.75 0.00 0.000 1030 0.000 0.115 2903 2404 2359 2395 2324 0 0 0 0 0 0 28.83 13.63 28.83

5049 1.60 146.0 2903 2403 2395 2320 365.1 12.9 335 5055 0.00 2.75 0.00 0.000 260 0.000 0.142 2902 3818 2357 2394 2321 0 0 0 0 0 0 28.83 14.17 28.83

5077 1.55 146.0 2902 3818 2394 2320 361.1 14.5 340 5084 0.00 2.53 0.00 0.000 1030 0.000 0.076 2912 2401 2357 2395 2320 0 0 0 0 0 0 28.83 14.25 28.83

5385 1.52 146.0 2912 2403 2395 2320 319.9 13.4 351 5391 0.12 2.50 0.00 0.000 4612 0.295 0.106 2890 995 2357 2394 2320 0 0 0 0 0 0 14.31 14.41 28.83

5438 1.52 146.0 2890 992 2395 2319 312.9 12.1 361 5443 0.00 2.58 0.00 0.000 1030 0.000 0.114 2890 2405 2356 2394 2319 0 0 0 0 0 0 28.83 14.43 28.83

5751 1.52 146.0 2890 2405 2394 2319 275.4 11.8 373 5752 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 2405 2356 2394 2319 0 0 0 0 0 0 28.83 28.83 28.83

6051 1.52 146.0 2890 2405 2395 2319 239.0 12.6 384 6052 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 2405 2357 2395 2319 0 0 0 0 0 0 28.83 28.83 28.83

6352 1.52 146.0 2890 2405 2395 2319 201.5 12.1 399 6353 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 2405 2356 2394 2319 0 0 0 0 0 0 28.83 28.83 28.83

6652 1.52 146.0 2890 2405 2395 2319 167.8 11.3 414 6658 0.00 2.47 0.00 0.000 516 0.000 0.108 2900 993 2356 2394 2319 0 0 0 0 0 0 28.83 14.61 28.83

6699 1.52 146.0 2899 993 2394 2319 161.8 12.1 423 6705 0.00 2.55 0.00 0.000 1030 0.000 0.116 2900 2405 2356 2394 2319 0 0 0 0 0 0 28.83 14.62 28.83

7017 1.52 146.0 2900 2404 2394 2319 124.1 12.0 441 7022 0.00 2.67 0.00 0.000 260 0.000 0.142 2900 3816 2357 2395 2320 0 0 0 0 0 0 28.83 14.60 28.83

7041 1.49 146.0 2900 3816 2394 2320 121.3 12.2 445 7047 0.15 2.45 0.00 0.000 5126 0.282 0.076 2875 2396 2357 2394 2320 0 0 0 0 0 0 14.53 14.66 28.83

7365 1.53 146.0 2875 2396 2394 2320 88.1 10.0 464 7370 0.00 2.70 0.00 0.000 260 0.000 0.145 2875 3809 2357 2394 2320 0 0 0 0 0 0 28.83 14.61 28.83

7402 1.53 146.0 2874 3809 2399 2321 84.2 10.6 471 7409 0.00 2.42 0.00 0.000 1030 0.000 0.075 2884 2401 2357 2394 2321 0 0 0 0 0 0 28.83 14.67 28.83

7711 1.64 209.5 2884 2401 2394 2321 61.8 7.1 487 7757 0.10 2.47 39.50 0.321 10756 0.172 0.107 2933 995 2097 2134 2061 0 0 0 0 0 0 14.70 14.57 14.40

7851 1.64 209.5 2933 995 2134 2062 47.6 10.7 515 7857 0.12 2.55 0.00 0.000 5126 0.275 0.116 2906 2404 2098 2134 2062 0 0 0 0 0 0 14.49 14.57 28.83

8165 1.69 210.6 2906 2404 2134 2056 17.1 9.9 537 8171 0.00 2.47 0.00 0.000 516 0.000 0.109 2914 995 2095 2134 2056 0 0 0 0 0 0 28.83 14.59 28.83

8199 1.75 230.0 2915 995 2133 2056 13.9 9.1 543 8220 0.00 2.55 12.50 0.187 9222 0.000 0.117 2915 2405 2010 2051 1970 0 0 0 0 0 0 28.83 14.59 14.52

8307 end climb: SURFACE_DEPTH_REACHED

state 8307 begin surface coast

8328 end surface coast: CONTROL_FINISHED_OK

state 8328 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	254	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	200115,164344,6709.784,-5702.632,0,2089.5,0,-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	2.44	MHEAD_RNG_PITCHd_Wd	172.5,16417,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-30.3	D_GRID	419
GPS2	200115,164344,6709.784,-5702.632,181,99.0,181,-32.6

FREEZE	1.75,-1.472,-1.612,0,3,0	SC_FREEKB	7688800
FINISH	1.7,1.023725	_24V_AH	12.86,61.835
SM_CCo	8346,210.07,0.156,0,0,499,601.23	_10V_AH	13.21,0.000
SM_GC	2.11,8.02,0.30,210.07,0.112,0.147,0.156,209,2559,499,-10.65,-0.23,601.23,0,0,0,0,0,0,14.67,14.59,14.42	FG_AHR_24Vo	0.000
RAFOS_CLK	399	FG_AHR_10Vo	0.000
RAFOS	0,1421784072,20.033333,20.020000,64,58,58,57,55,54,166,147,179,189,198,213	MEM	270924
RAFOS_FIX	6709.784180,-5702.631836,200115,161644,2,90,0.68	DATA_FILE_SIZE	20052,558
IRIDIUM_FIX	6636.54,-5652.31,200115,111442	CAP_FILE_SIZE	101001,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260034560,234283008
HUMID	43.89	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
INTERNAL_PRESSURE	8.36193	INTR	0,10995.13,0x23769e,7,5
TCM_TEMP	12.60	SOUNDSPEED	1461.8
XPDR_PINGS	8	GPS	200115,204035,6703.229,-5644.984,25,1.9,25,-32.5
ALTIM_TOP_PING	19.1,17.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	475	130.95	nil	0	0	0.00
Roll_motor	65	163	137.48	nil	0	0	0.00
VBD_pump_during_apogee	350	1936	8733.58	nil	0	0	0.00
VBD_pump_during_surface	210	156	421.61	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	8345	7	782.23
Iridium_during_xfer	122	51	80.46	nil	0	0	0.00
Transponder_ping	2	420	12.15	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	181	30	72.04
TT8	1155	11	175.15
LPSleep	5901	2	180.10
TT8_Active	710	11	107.58
TT8_Sampling	1205	30	492.76
TT8_CF8	293	36	140.49
TT8_Kalman	0	0	0.00
Analog_circuits	1341	11	194.92
GPS_charging	0	0	0.00
Compass	843	6	66.84
RAFOS	1800	1	35.67
Transponder	2	30	1.04

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-1.60	-146.0	225	2556	541	477	0.0	0.0	0	163	0.00	0.00	-140.80	0.000	16386	0.000	0.000	225	2556	3268	3236	3300	0	0	0	0	0	0	28.83	28.83	28.83
166	-1.60	-146.0	225	2556	3237	3301	3.4	-1.5	14	192	10.27	2.47	-8.32	0.000	18692	0.476	0.164	2186	3837	3549	3538	3560	0	0	0	0	0	0	14.26	14.50	14.81
420	-1.54	-146.0	2186	3837	3542	3561	42.5	-14.3	64	426	0.12	2.22	0.00	0.000	3078	0.315	0.062	2211	2535	3551	3542	3561	0	0	0	0	0	0	14.38	14.61	28.83
734	-1.54	-146.0	2211	2535	3544	3561	83.3	-12.6	81	740	0.00	2.40	0.00	0.000	516	0.000	0.096	2212	1150	3552	3543	3561	0	0	0	0	0	0	28.83	14.57	28.83
837	-1.54	-146.0	2212	1150	3543	3561	96.4	-12.5	101	843	0.00	2.53	0.00	0.000	1030	0.000	0.112	2205	2549	3551	3543	3560	0	0	0	0	0	0	28.83	14.55	28.83
1160	-1.54	-146.0	2205	2549	3543	3563	133.4	-11.2	120	1166	0.00	2.42	0.00	0.000	260	0.000	0.137	2195	3837	3551	3543	3559	0	0	0	0	0	0	28.83	14.55	28.83
1238	-1.51	-146.0	2195	3838	3543	3559	142.7	-11.6	135	1245	0.10	2.20	0.00	0.000	3078	0.313	0.059	2215	2540	3551	3543	3559	0	0	0	0	0	0	14.42	14.64	28.83
1543	-1.51	-146.0	2215	2539	3542	3557	174.7	-10.3	151	1544	0.00	0.00	0.00	0.000	6	0.000	0.000	2215	2539	3550	3543	3557	0	0	0	0	0	0	28.83	28.83	28.83
1845	-1.51	-146.0	2216	2540	3543	3557	204.0	-9.6	166	1846	0.00	0.00	0.00	0.000	6	0.000	0.000	2215	2540	3549	3543	3556	0	0	0	0	0	0	28.83	28.83	28.83
2145	-1.53	-146.0	2215	2540	3543	3558	230.6	-8.3	181	2151	0.00	2.47	0.00	0.000	260	0.000	0.138	2206	3846	3549	3543	3556	0	0	0	0	0	0	28.83	14.58	28.83
2193	-1.53	-146.0	2206	3846	3543	3556	234.9	-9.0	190	2198	0.00	2.20	0.00	0.000	1030	0.000	0.060	2206	2547	3549	3543	3556	0	0	0	0	0	0	28.83	14.70	28.83
2522	-1.53	-146.0	2206	2546	3544	3556	262.7	-8.2	206	2524	0.00	0.00	0.00	0.000	6	0.000	0.000	2206	2546	3550	3544	3557	0	0	0	0	0	0	28.83	28.83	28.83
2821	-1.53	-146.0	2206	2549	3545	3557	285.5	-7.4	216	2822	0.00	0.00	0.00	0.000	6	0.000	0.000	2206	2546	3551	3546	3557	0	0	0	0	0	0	28.83	28.83	28.83
3121	-1.53	-146.0	2206	2546	3548	3558	308.7	-7.9	226	3123	0.00	0.00	0.00	0.000	6	0.000	0.000	2206	2546	3553	3548	3558	0	0	0	0	0	0	28.83	28.83	28.83
3421	-1.53	-146.0	2206	2546	3549	3559	333.2	-8.3	236	3422	0.00	0.00	0.00	0.000	6	0.000	0.000	2206	2546	3554	3549	3559	0	0	0	0	0	0	28.83	28.83	28.83
3721	-1.53	-146.0	2206	2546	3551	3559	359.3	-8.8	246	3723	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	2547	3555	3550	3560	0	0	0	0	0	0	28.83	28.83	28.83
4021	-1.53	-146.0	2206	2546	3552	3560	385.3	-8.5	256	4026	0.00	2.45	0.00	0.000	260	0.000	0.139	2197	3845	3555	3551	3559	0	0	0	0	0	0	28.83	14.62	28.83
4054	-1.53	-146.0	2197	3846	3552	3560	388.3	-10.1	262	4059	0.00	2.17	0.00	0.000	1030	0.000	0.060	2197	2552	3559	3558	3560	0	0	0	0	0	0	28.83	14.75	28.83
4387	end dive: TARGET_DEPTH_EXCEEDED
state	4387	begin apogee
4393	-0.38	0.0	2197	2398	3551	3560	419.9	-9.3	278	4547	0.98	0.00	145.38	1.901	10246	0.252	0.000	2467	2397	2950	2967	2934	0	0	0	0	1	0	14.52	28.83	13.22
4548	end apogee: CONTROL_FINISHED_OK
state	4548	begin climb
4551	1.60	146.0	2467	2397	2968	2940	422.5	0.0	283	4722	1.40	2.78	153.38	1.936	10756	0.161	0.113	2903	996	2358	2395	2321	0	0	0	0	1	0	13.90	13.47	12.86
4744	1.60	146.0	2903	997	2394	2323	404.8	12.0	324	4751	0.00	2.75	0.00	0.000	1030	0.000	0.115	2903	2404	2359	2395	2324	0	0	0	0	0	0	28.83	13.63	28.83
5049	1.60	146.0	2903	2403	2395	2320	365.1	12.9	335	5055	0.00	2.75	0.00	0.000	260	0.000	0.142	2902	3818	2357	2394	2321	0	0	0	0	0	0	28.83	14.17	28.83
5077	1.55	146.0	2902	3818	2394	2320	361.1	14.5	340	5084	0.00	2.53	0.00	0.000	1030	0.000	0.076	2912	2401	2357	2395	2320	0	0	0	0	0	0	28.83	14.25	28.83
5385	1.52	146.0	2912	2403	2395	2320	319.9	13.4	351	5391	0.12	2.50	0.00	0.000	4612	0.295	0.106	2890	995	2357	2394	2320	0	0	0	0	0	0	14.31	14.41	28.83
5438	1.52	146.0	2890	992	2395	2319	312.9	12.1	361	5443	0.00	2.58	0.00	0.000	1030	0.000	0.114	2890	2405	2356	2394	2319	0	0	0	0	0	0	28.83	14.43	28.83
5751	1.52	146.0	2890	2405	2394	2319	275.4	11.8	373	5752	0.00	0.00	0.00	0.000	6	0.000	0.000	2890	2405	2356	2394	2319	0	0	0	0	0	0	28.83	28.83	28.83
6051	1.52	146.0	2890	2405	2395	2319	239.0	12.6	384	6052	0.00	0.00	0.00	0.000	6	0.000	0.000	2890	2405	2357	2395	2319	0	0	0	0	0	0	28.83	28.83	28.83
6352	1.52	146.0	2890	2405	2395	2319	201.5	12.1	399	6353	0.00	0.00	0.00	0.000	6	0.000	0.000	2890	2405	2356	2394	2319	0	0	0	0	0	0	28.83	28.83	28.83
6652	1.52	146.0	2890	2405	2395	2319	167.8	11.3	414	6658	0.00	2.47	0.00	0.000	516	0.000	0.108	2900	993	2356	2394	2319	0	0	0	0	0	0	28.83	14.61	28.83
6699	1.52	146.0	2899	993	2394	2319	161.8	12.1	423	6705	0.00	2.55	0.00	0.000	1030	0.000	0.116	2900	2405	2356	2394	2319	0	0	0	0	0	0	28.83	14.62	28.83
7017	1.52	146.0	2900	2404	2394	2319	124.1	12.0	441	7022	0.00	2.67	0.00	0.000	260	0.000	0.142	2900	3816	2357	2395	2320	0	0	0	0	0	0	28.83	14.60	28.83
7041	1.49	146.0	2900	3816	2394	2320	121.3	12.2	445	7047	0.15	2.45	0.00	0.000	5126	0.282	0.076	2875	2396	2357	2394	2320	0	0	0	0	0	0	14.53	14.66	28.83
7365	1.53	146.0	2875	2396	2394	2320	88.1	10.0	464	7370	0.00	2.70	0.00	0.000	260	0.000	0.145	2875	3809	2357	2394	2320	0	0	0	0	0	0	28.83	14.61	28.83
7402	1.53	146.0	2874	3809	2399	2321	84.2	10.6	471	7409	0.00	2.42	0.00	0.000	1030	0.000	0.075	2884	2401	2357	2394	2321	0	0	0	0	0	0	28.83	14.67	28.83
7711	1.64	209.5	2884	2401	2394	2321	61.8	7.1	487	7757	0.10	2.47	39.50	0.321	10756	0.172	0.107	2933	995	2097	2134	2061	0	0	0	0	0	0	14.70	14.57	14.40
7851	1.64	209.5	2933	995	2134	2062	47.6	10.7	515	7857	0.12	2.55	0.00	0.000	5126	0.275	0.116	2906	2404	2098	2134	2062	0	0	0	0	0	0	14.49	14.57	28.83
8165	1.69	210.6	2906	2404	2134	2056	17.1	9.9	537	8171	0.00	2.47	0.00	0.000	516	0.000	0.109	2914	995	2095	2134	2056	0	0	0	0	0	0	28.83	14.59	28.83
8199	1.75	230.0	2915	995	2133	2056	13.9	9.1	543	8220	0.00	2.55	12.50	0.187	9222	0.000	0.117	2915	2405	2010	2051	1970	0	0	0	0	0	0	28.83	14.59	14.52
8307	end climb: SURFACE_DEPTH_REACHED
state	8307	begin surface coast
8328	end surface coast: CONTROL_FINISHED_OK
state	8328	begin surface