Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 255 * 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 255 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 350 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 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 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 255 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 200115,204035,6703.229,-5644.984,25,1.9,25,-32.5 SPEED_LIMITS 0.173,0.262

_CALLS 1 TGT_NAME TARGET_W

_XMS_NAKs 0 TGT_LATLONG 6644.000,-6026.000

_XMS_TOUTs 0 TGT_RADIUS 10000.000

_SM_DEPTHo 2.07 MHEAD_RNG_PITCHd_Wd 290.1,165627,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -51.2 D_GRID 467

GPS2 200115,205236,6703.150,-5644.850,8,1.8,8,-32.5

Post-dive calculations and measurements:

FREEZE 1.81,-1.685,-1.626,0,1,0 SC_FREEKB 7688480

FINISH 1.8,1.023927 _24V_AH 13.45,62.032

SM_CCo 9193,81.35,0.152,0,0,1521,350.04 _10V_AH 13.35,0.000

SM_GC 2.55,7.93,0.30,81.35,0.102,0.151,0.152,203,2557,1521,-10.67,-0.28,350.04,0,0,0,0,0,0,14.70,14.62,14.53 FG_AHR_24Vo 0.000

RAFOS_CLK 362 FG_AHR_10Vo 0.000

RAFOS 4,1421785984,20.566668,20.551111,58,57,56,53,51,49,144,186,212,162,231,131 MEM 270824

RAFOS_FIX 6709.784180,-5702.631836,200115,161644,2,90,0.68 DATA_FILE_SIZE 20129,575

IRIDIUM_FIX 6636.54,-5652.31,200115,111442 CAP_FILE_SIZE 110550,0

TT8_MAMPS 0.023968,0.023968 CFSIZE 260034560,234213376

HUMID 44.99 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.45959 INTR 0,9380.71,0x23769e,7,5

TCM_TEMP 13.10 SOUNDSPEED 1464.8

XPDR_PINGS 1 GPS 200115,232906,6703.375,-5645.879,37,0.9,37,-32.5

ALTIM_TOP_PING 19.4,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 477 142.21 nil 0 0 0.00

Roll_motor 75 150 152.38 nil 0 0 0.00

VBD_pump_during_apogee 361 1291 6279.06 nil 0 0 0.00

VBD_pump_during_surface 81 152 166.57 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 9191 7 893.89

Iridium_during_xfer 498 176 1185.14 nil 0 0 0.00

Transponder_ping 0 420 2.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 9 30 3.94

TT8 1224 11 187.54

LPSleep 6520 2 201.07

TT8_Active 597 11 91.44

TT8_Sampling 1388 30 573.46

TT8_CF8 279 36 134.85

TT8_Kalman 0 0 0.00

Analog_circuits 1624 11 238.61

GPS_charging 0 0 0.00

Compass 865 6 69.31

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 16 begin dive

19 -1.60 -146.0 209 2560 513 476 0.0 0.0 0 162 0.00 0.00 -140.98 0.000 16386 0.000 0.000 209 2560 3101 3068 3135 0 0 0 0 0 0 28.83 28.83 28.83

165 -1.60 -146.0 209 2560 3069 3138 3.6 -3.3 14 197 10.55 2.53 -13.60 0.000 18948 0.477 0.117 2193 1141 3548 3538 3559 0 0 0 0 0 0 14.15 14.38 14.65

254 -1.56 -146.0 2193 1141 3541 3558 16.8 -15.2 31 262 0.10 2.62 0.00 0.000 3078 0.356 0.116 2205 2553 3549 3540 3559 0 0 0 0 0 0 14.26 14.40 28.83

560 -1.54 -146.0 2205 2553 3543 3559 58.1 -12.9 50 566 0.00 2.45 0.00 0.000 260 0.000 0.141 2196 3839 3551 3543 3560 0 0 0 0 0 0 28.83 14.47 28.83

692 -1.50 -146.0 2196 3839 3543 3559 75.6 -12.4 76 698 0.12 2.22 0.00 0.000 3078 0.309 0.060 2221 2536 3551 3543 3559 0 0 0 0 0 0 14.35 14.56 28.83

1006 -1.50 -146.0 2221 2538 3543 3560 106.2 -9.6 93 1007 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2536 3551 3543 3559 0 0 0 0 0 0 28.83 28.83 28.83

1308 -1.50 -146.0 2221 2533 3543 3558 133.9 -9.3 108 1314 0.00 2.47 0.00 0.000 260 0.000 0.140 2213 3842 3550 3543 3558 0 0 0 0 0 0 28.83 14.54 28.83

1395 -1.50 -146.0 2212 3841 3543 3559 143.3 -10.5 125 1400 0.00 2.20 0.00 0.000 1030 0.000 0.060 2212 2553 3550 3542 3558 0 0 0 0 0 0 28.83 14.66 28.83

1713 -1.50 -146.0 2212 2552 3543 3554 173.5 -9.1 143 1714 0.00 0.00 0.00 0.000 6 0.000 0.000 2212 2552 3548 3543 3554 0 0 0 0 0 0 28.83 28.83 28.83

2015 -1.50 -146.0 2212 2552 3543 3554 199.9 -8.7 158 2016 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2552 3548 3543 3554 0 0 0 0 0 0 28.83 28.83 28.83

2315 -1.53 -146.0 2212 2552 3543 3554 228.9 -10.1 173 2316 0.00 0.00 0.00 0.000 6 0.000 0.000 2212 2552 3548 3543 3554 0 0 0 0 0 0 28.83 28.83 28.83

2625 -1.55 -146.0 2212 2552 3543 3554 259.4 -9.5 187 2626 0.00 0.00 0.00 0.000 6 0.000 0.000 2212 2552 3548 3543 3554 0 0 0 0 0 0 28.83 28.83 28.83

2924 -1.57 -146.0 2213 2552 3544 3554 286.8 -9.2 197 2929 0.00 2.42 0.00 0.000 516 0.000 0.099 2212 1144 3549 3545 3554 0 0 0 0 0 0 28.83 14.65 28.83

2957 -1.60 -146.0 2212 1144 3545 3554 289.9 -8.9 203 2963 0.00 2.53 0.00 0.000 1030 0.000 0.115 2205 2554 3549 3545 3554 0 0 0 0 0 0 28.83 14.64 28.83

3293 -1.62 -146.0 2205 2554 3546 3554 320.6 -9.0 219 3294 0.00 0.00 0.00 0.000 6 0.000 0.000 2205 2553 3550 3546 3554 0 0 0 0 0 0 28.83 28.83 28.83

3591 -1.64 -146.0 2204 2554 3547 3556 347.6 -8.6 229 3592 0.00 0.00 0.00 0.000 6 0.000 0.000 2205 2554 3551 3547 3556 0 0 0 0 0 0 28.83 28.83 28.83

3891 -1.66 -146.0 2205 2554 3549 3557 372.9 -8.2 239 3892 0.00 0.00 0.00 0.000 6 0.000 0.000 2205 2554 3553 3549 3557 0 0 0 0 0 0 28.83 28.83 28.83

4191 -1.68 -146.0 2205 2554 3551 3559 397.5 -8.3 249 4192 0.00 0.00 0.00 0.000 6 0.000 0.000 2205 2553 3554 3551 3558 0 0 0 0 0 0 28.83 28.83 28.83

4491 -1.71 -146.0 2205 2554 3551 3559 421.9 -8.3 259 4493 0.10 0.00 0.00 0.000 4102 0.177 0.000 2162 2554 3555 3551 3559 0 0 0 0 0 0 14.74 28.83 28.83

4791 -1.71 -146.0 2163 2554 3552 3560 450.3 -9.6 269 4792 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2554 3556 3552 3560 0 0 0 0 0 0 28.83 28.83 28.83

5091 -1.92 -146.0 2162 2554 3552 3560 460.4 -0.0 279 5097 0.12 2.47 0.00 0.000 4612 0.154 0.107 2103 1145 3555 3551 3560 0 0 0 0 0 0 14.73 14.68 28.83

5147 end dive: NO_VERTICAL_VELOCITY

state 5147 begin apogee

5154 -0.38 0.0 2103 2403 3552 3560 460.4 0.0 290 5320 1.20 0.00 161.40 1.291 10246 0.189 0.000 2466 2403 2950 2967 2933 0 0 0 0 0 0 14.61 28.83 13.58

5321 end apogee: CONTROL_FINISHED_OK

state 5321 begin climb

5324 1.60 146.0 2466 2403 2958 2922 459.9 0.0 295 5497 1.40 2.65 162.38 1.182 10756 0.161 0.114 2906 1002 2347 2385 2309 0 0 0 0 0 0 14.04 13.85 13.45

5549 1.60 146.0 2906 1002 2373 2289 436.9 13.0 344 5555 0.00 2.65 0.00 0.000 1030 0.000 0.119 2906 2404 2331 2373 2289 0 0 0 0 0 0 28.83 14.02 28.83

5879 1.60 146.0 2906 2404 2369 2284 393.9 12.9 359 5880 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 2404 2326 2369 2283 0 0 0 0 0 0 28.83 28.83 28.83

6178 1.58 146.0 2906 2404 2369 2282 354.3 13.6 369 6184 0.00 2.50 0.00 0.000 516 0.000 0.112 2916 1001 2327 2369 2286 0 0 0 0 0 0 28.83 14.47 28.83

6207 1.58 146.0 2916 1000 2369 2282 350.5 13.4 374 6214 0.10 2.55 0.00 0.000 5126 0.298 0.116 2896 2407 2325 2369 2282 0 0 0 0 0 0 14.40 14.49 28.83

6513 1.58 146.0 2896 2407 2369 2282 310.5 12.8 385 6518 0.00 2.50 0.00 0.000 516 0.000 0.109 2905 997 2325 2369 2281 0 0 0 0 0 0 28.83 14.54 28.83

6540 1.58 146.0 2905 997 2369 2282 306.7 12.6 390 6547 0.00 2.55 0.00 0.000 1030 0.000 0.115 2905 2406 2325 2369 2282 0 0 0 0 0 0 28.83 14.55 28.83

6846 1.58 146.0 2904 2407 2369 2282 265.3 13.9 401 6851 0.00 2.65 0.00 0.000 260 0.000 0.140 2905 3809 2325 2369 2282 0 0 0 0 0 0 28.83 14.57 28.83

6864 1.55 146.0 2905 3809 2369 2282 262.6 14.1 404 6870 0.12 2.42 0.00 0.000 5126 0.298 0.074 2887 2406 2325 2369 2282 0 0 0 0 0 0 14.50 14.63 28.83

7172 1.55 146.0 2887 2406 2369 2282 222.2 13.2 420 7178 0.00 2.47 0.00 0.000 516 0.000 0.106 2897 991 2325 2369 2282 0 0 0 0 0 0 28.83 14.61 28.83

7220 1.55 146.0 2897 991 2369 2282 215.8 13.3 429 7225 0.00 2.53 0.00 0.000 1030 0.000 0.114 2897 2403 2325 2369 2282 0 0 0 0 0 0 28.83 14.62 28.83

7538 1.55 146.0 2897 2402 2369 2282 173.9 13.0 447 7543 0.00 2.50 0.00 0.000 516 0.000 0.107 2906 989 2325 2369 2282 0 0 0 0 0 0 28.83 14.62 28.83

7570 1.55 146.0 2906 988 2369 2282 169.6 12.3 453 7576 0.00 2.53 0.00 0.000 1030 0.000 0.114 2906 2402 2325 2369 2282 0 0 0 0 0 0 28.83 14.60 28.83

7883 1.55 146.0 2906 2402 2369 2283 131.3 12.2 470 7889 0.00 2.65 0.00 0.000 260 0.000 0.141 2906 3810 2325 2369 2281 0 0 0 0 0 0 28.83 14.62 28.83

7921 1.50 146.0 2906 3810 2369 2282 126.3 13.5 477 7929 0.17 2.45 0.00 0.000 5126 0.277 0.074 2875 2391 2325 2368 2282 0 0 0 0 0 0 14.54 14.69 28.83

8227 1.54 146.0 2874 2390 2369 2282 93.8 10.3 493 8232 0.00 2.45 0.00 0.000 516 0.000 0.107 2884 987 2325 2369 2282 0 0 0 0 0 0 28.83 14.64 28.83

8270 1.56 146.0 2885 988 2369 2282 89.6 10.1 501 8276 0.00 2.53 0.00 0.000 1030 0.000 0.114 2884 2400 2325 2369 2282 0 0 0 0 0 0 28.83 14.62 28.83

8594 1.66 193.0 2884 2400 2369 2284 61.3 7.8 520 8628 0.10 2.53 25.70 0.305 10756 0.169 0.109 2935 997 2167 2201 2134 0 0 0 0 0 0 14.72 14.59 14.43

8650 1.68 206.7 2935 997 2203 2144 56.1 9.4 531 8666 0.00 2.53 10.50 0.288 9222 0.000 0.114 2935 2400 2107 2146 2068 0 0 0 0 0 0 28.83 14.61 14.41

8970 1.68 206.7 2935 2403 2147 2086 20.9 11.6 552 8976 0.00 2.47 0.00 0.000 516 0.000 0.109 2944 995 2116 2147 2086 0 0 0 0 0 0 28.83 14.58 28.83

8999 1.68 206.7 2944 995 2147 2086 17.9 10.4 557 9007 0.12 2.53 1.55 0.190 13318 0.287 0.113 2917 2403 2106 2139 2073 0 0 0 0 0 0 14.50 14.61 14.55

9153 end climb: SURFACE_DEPTH_REACHED

state 9153 begin surface coast

9175 end surface coast: CONTROL_FINISHED_OK

state 9175 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	255	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	350	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	200115,204035,6703.229,-5644.984,25,1.9,25,-32.5	SPEED_LIMITS	0.173,0.262
_CALLS	1	TGT_NAME	TARGET_W
_XMS_NAKs	0	TGT_LATLONG	6644.000,-6026.000
_XMS_TOUTs	0	TGT_RADIUS	10000.000
_SM_DEPTHo	2.07	MHEAD_RNG_PITCHd_Wd	290.1,165627,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-51.2	D_GRID	467
GPS2	200115,205236,6703.150,-5644.850,8,1.8,8,-32.5

FREEZE	1.81,-1.685,-1.626,0,1,0	SC_FREEKB	7688480
FINISH	1.8,1.023927	_24V_AH	13.45,62.032
SM_CCo	9193,81.35,0.152,0,0,1521,350.04	_10V_AH	13.35,0.000
SM_GC	2.55,7.93,0.30,81.35,0.102,0.151,0.152,203,2557,1521,-10.67,-0.28,350.04,0,0,0,0,0,0,14.70,14.62,14.53	FG_AHR_24Vo	0.000
RAFOS_CLK	362	FG_AHR_10Vo	0.000
RAFOS	4,1421785984,20.566668,20.551111,58,57,56,53,51,49,144,186,212,162,231,131	MEM	270824
RAFOS_FIX	6709.784180,-5702.631836,200115,161644,2,90,0.68	DATA_FILE_SIZE	20129,575
IRIDIUM_FIX	6636.54,-5652.31,200115,111442	CAP_FILE_SIZE	110550,0
TT8_MAMPS	0.023968,0.023968	CFSIZE	260034560,234213376
HUMID	44.99	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.45959	INTR	0,9380.71,0x23769e,7,5
TCM_TEMP	13.10	SOUNDSPEED	1464.8
XPDR_PINGS	1	GPS	200115,232906,6703.375,-5645.879,37,0.9,37,-32.5
ALTIM_TOP_PING	19.4,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	477	142.21	nil	0	0	0.00
Roll_motor	75	150	152.38	nil	0	0	0.00
VBD_pump_during_apogee	361	1291	6279.06	nil	0	0	0.00
VBD_pump_during_surface	81	152	166.57	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	9191	7	893.89
Iridium_during_xfer	498	176	1185.14	nil	0	0	0.00
Transponder_ping	0	420	2.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	9	30	3.94
TT8	1224	11	187.54
LPSleep	6520	2	201.07
TT8_Active	597	11	91.44
TT8_Sampling	1388	30	573.46
TT8_CF8	279	36	134.85
TT8_Kalman	0	0	0.00
Analog_circuits	1624	11	238.61
GPS_charging	0	0	0.00
Compass	865	6	69.31
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	16	begin dive
19	-1.60	-146.0	209	2560	513	476	0.0	0.0	0	162	0.00	0.00	-140.98	0.000	16386	0.000	0.000	209	2560	3101	3068	3135	0	0	0	0	0	0	28.83	28.83	28.83
165	-1.60	-146.0	209	2560	3069	3138	3.6	-3.3	14	197	10.55	2.53	-13.60	0.000	18948	0.477	0.117	2193	1141	3548	3538	3559	0	0	0	0	0	0	14.15	14.38	14.65
254	-1.56	-146.0	2193	1141	3541	3558	16.8	-15.2	31	262	0.10	2.62	0.00	0.000	3078	0.356	0.116	2205	2553	3549	3540	3559	0	0	0	0	0	0	14.26	14.40	28.83
560	-1.54	-146.0	2205	2553	3543	3559	58.1	-12.9	50	566	0.00	2.45	0.00	0.000	260	0.000	0.141	2196	3839	3551	3543	3560	0	0	0	0	0	0	28.83	14.47	28.83
692	-1.50	-146.0	2196	3839	3543	3559	75.6	-12.4	76	698	0.12	2.22	0.00	0.000	3078	0.309	0.060	2221	2536	3551	3543	3559	0	0	0	0	0	0	14.35	14.56	28.83
1006	-1.50	-146.0	2221	2538	3543	3560	106.2	-9.6	93	1007	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2536	3551	3543	3559	0	0	0	0	0	0	28.83	28.83	28.83
1308	-1.50	-146.0	2221	2533	3543	3558	133.9	-9.3	108	1314	0.00	2.47	0.00	0.000	260	0.000	0.140	2213	3842	3550	3543	3558	0	0	0	0	0	0	28.83	14.54	28.83
1395	-1.50	-146.0	2212	3841	3543	3559	143.3	-10.5	125	1400	0.00	2.20	0.00	0.000	1030	0.000	0.060	2212	2553	3550	3542	3558	0	0	0	0	0	0	28.83	14.66	28.83
1713	-1.50	-146.0	2212	2552	3543	3554	173.5	-9.1	143	1714	0.00	0.00	0.00	0.000	6	0.000	0.000	2212	2552	3548	3543	3554	0	0	0	0	0	0	28.83	28.83	28.83
2015	-1.50	-146.0	2212	2552	3543	3554	199.9	-8.7	158	2016	0.00	0.00	0.00	0.000	6	0.000	0.000	2213	2552	3548	3543	3554	0	0	0	0	0	0	28.83	28.83	28.83
2315	-1.53	-146.0	2212	2552	3543	3554	228.9	-10.1	173	2316	0.00	0.00	0.00	0.000	6	0.000	0.000	2212	2552	3548	3543	3554	0	0	0	0	0	0	28.83	28.83	28.83
2625	-1.55	-146.0	2212	2552	3543	3554	259.4	-9.5	187	2626	0.00	0.00	0.00	0.000	6	0.000	0.000	2212	2552	3548	3543	3554	0	0	0	0	0	0	28.83	28.83	28.83
2924	-1.57	-146.0	2213	2552	3544	3554	286.8	-9.2	197	2929	0.00	2.42	0.00	0.000	516	0.000	0.099	2212	1144	3549	3545	3554	0	0	0	0	0	0	28.83	14.65	28.83
2957	-1.60	-146.0	2212	1144	3545	3554	289.9	-8.9	203	2963	0.00	2.53	0.00	0.000	1030	0.000	0.115	2205	2554	3549	3545	3554	0	0	0	0	0	0	28.83	14.64	28.83
3293	-1.62	-146.0	2205	2554	3546	3554	320.6	-9.0	219	3294	0.00	0.00	0.00	0.000	6	0.000	0.000	2205	2553	3550	3546	3554	0	0	0	0	0	0	28.83	28.83	28.83
3591	-1.64	-146.0	2204	2554	3547	3556	347.6	-8.6	229	3592	0.00	0.00	0.00	0.000	6	0.000	0.000	2205	2554	3551	3547	3556	0	0	0	0	0	0	28.83	28.83	28.83
3891	-1.66	-146.0	2205	2554	3549	3557	372.9	-8.2	239	3892	0.00	0.00	0.00	0.000	6	0.000	0.000	2205	2554	3553	3549	3557	0	0	0	0	0	0	28.83	28.83	28.83
4191	-1.68	-146.0	2205	2554	3551	3559	397.5	-8.3	249	4192	0.00	0.00	0.00	0.000	6	0.000	0.000	2205	2553	3554	3551	3558	0	0	0	0	0	0	28.83	28.83	28.83
4491	-1.71	-146.0	2205	2554	3551	3559	421.9	-8.3	259	4493	0.10	0.00	0.00	0.000	4102	0.177	0.000	2162	2554	3555	3551	3559	0	0	0	0	0	0	14.74	28.83	28.83
4791	-1.71	-146.0	2163	2554	3552	3560	450.3	-9.6	269	4792	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2554	3556	3552	3560	0	0	0	0	0	0	28.83	28.83	28.83
5091	-1.92	-146.0	2162	2554	3552	3560	460.4	-0.0	279	5097	0.12	2.47	0.00	0.000	4612	0.154	0.107	2103	1145	3555	3551	3560	0	0	0	0	0	0	14.73	14.68	28.83
5147	end dive: NO_VERTICAL_VELOCITY
state	5147	begin apogee
5154	-0.38	0.0	2103	2403	3552	3560	460.4	0.0	290	5320	1.20	0.00	161.40	1.291	10246	0.189	0.000	2466	2403	2950	2967	2933	0	0	0	0	0	0	14.61	28.83	13.58
5321	end apogee: CONTROL_FINISHED_OK
state	5321	begin climb
5324	1.60	146.0	2466	2403	2958	2922	459.9	0.0	295	5497	1.40	2.65	162.38	1.182	10756	0.161	0.114	2906	1002	2347	2385	2309	0	0	0	0	0	0	14.04	13.85	13.45
5549	1.60	146.0	2906	1002	2373	2289	436.9	13.0	344	5555	0.00	2.65	0.00	0.000	1030	0.000	0.119	2906	2404	2331	2373	2289	0	0	0	0	0	0	28.83	14.02	28.83
5879	1.60	146.0	2906	2404	2369	2284	393.9	12.9	359	5880	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	2404	2326	2369	2283	0	0	0	0	0	0	28.83	28.83	28.83
6178	1.58	146.0	2906	2404	2369	2282	354.3	13.6	369	6184	0.00	2.50	0.00	0.000	516	0.000	0.112	2916	1001	2327	2369	2286	0	0	0	0	0	0	28.83	14.47	28.83
6207	1.58	146.0	2916	1000	2369	2282	350.5	13.4	374	6214	0.10	2.55	0.00	0.000	5126	0.298	0.116	2896	2407	2325	2369	2282	0	0	0	0	0	0	14.40	14.49	28.83
6513	1.58	146.0	2896	2407	2369	2282	310.5	12.8	385	6518	0.00	2.50	0.00	0.000	516	0.000	0.109	2905	997	2325	2369	2281	0	0	0	0	0	0	28.83	14.54	28.83
6540	1.58	146.0	2905	997	2369	2282	306.7	12.6	390	6547	0.00	2.55	0.00	0.000	1030	0.000	0.115	2905	2406	2325	2369	2282	0	0	0	0	0	0	28.83	14.55	28.83
6846	1.58	146.0	2904	2407	2369	2282	265.3	13.9	401	6851	0.00	2.65	0.00	0.000	260	0.000	0.140	2905	3809	2325	2369	2282	0	0	0	0	0	0	28.83	14.57	28.83
6864	1.55	146.0	2905	3809	2369	2282	262.6	14.1	404	6870	0.12	2.42	0.00	0.000	5126	0.298	0.074	2887	2406	2325	2369	2282	0	0	0	0	0	0	14.50	14.63	28.83
7172	1.55	146.0	2887	2406	2369	2282	222.2	13.2	420	7178	0.00	2.47	0.00	0.000	516	0.000	0.106	2897	991	2325	2369	2282	0	0	0	0	0	0	28.83	14.61	28.83
7220	1.55	146.0	2897	991	2369	2282	215.8	13.3	429	7225	0.00	2.53	0.00	0.000	1030	0.000	0.114	2897	2403	2325	2369	2282	0	0	0	0	0	0	28.83	14.62	28.83
7538	1.55	146.0	2897	2402	2369	2282	173.9	13.0	447	7543	0.00	2.50	0.00	0.000	516	0.000	0.107	2906	989	2325	2369	2282	0	0	0	0	0	0	28.83	14.62	28.83
7570	1.55	146.0	2906	988	2369	2282	169.6	12.3	453	7576	0.00	2.53	0.00	0.000	1030	0.000	0.114	2906	2402	2325	2369	2282	0	0	0	0	0	0	28.83	14.60	28.83
7883	1.55	146.0	2906	2402	2369	2283	131.3	12.2	470	7889	0.00	2.65	0.00	0.000	260	0.000	0.141	2906	3810	2325	2369	2281	0	0	0	0	0	0	28.83	14.62	28.83
7921	1.50	146.0	2906	3810	2369	2282	126.3	13.5	477	7929	0.17	2.45	0.00	0.000	5126	0.277	0.074	2875	2391	2325	2368	2282	0	0	0	0	0	0	14.54	14.69	28.83
8227	1.54	146.0	2874	2390	2369	2282	93.8	10.3	493	8232	0.00	2.45	0.00	0.000	516	0.000	0.107	2884	987	2325	2369	2282	0	0	0	0	0	0	28.83	14.64	28.83
8270	1.56	146.0	2885	988	2369	2282	89.6	10.1	501	8276	0.00	2.53	0.00	0.000	1030	0.000	0.114	2884	2400	2325	2369	2282	0	0	0	0	0	0	28.83	14.62	28.83
8594	1.66	193.0	2884	2400	2369	2284	61.3	7.8	520	8628	0.10	2.53	25.70	0.305	10756	0.169	0.109	2935	997	2167	2201	2134	0	0	0	0	0	0	14.72	14.59	14.43
8650	1.68	206.7	2935	997	2203	2144	56.1	9.4	531	8666	0.00	2.53	10.50	0.288	9222	0.000	0.114	2935	2400	2107	2146	2068	0	0	0	0	0	0	28.83	14.61	14.41
8970	1.68	206.7	2935	2403	2147	2086	20.9	11.6	552	8976	0.00	2.47	0.00	0.000	516	0.000	0.109	2944	995	2116	2147	2086	0	0	0	0	0	0	28.83	14.58	28.83
8999	1.68	206.7	2944	995	2147	2086	17.9	10.4	557	9007	0.12	2.53	1.55	0.190	13318	0.287	0.113	2917	2403	2106	2139	2073	0	0	0	0	0	0	14.50	14.61	14.55
9153	end climb: SURFACE_DEPTH_REACHED
state	9153	begin surface coast
9175	end surface coast: CONTROL_FINISHED_OK
state	9175	begin surface