Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 256 * 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 256 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 256 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 200115,232906,6703.375,-5645.879,37,0.9,37,-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 2.23 MHEAD_RNG_PITCHd_Wd 289.9,165028,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -55.5 D_GRID 467

GPS2 200115,234225,6703.461,-5645.862,5,0.9,5,-32.5

Post-dive calculations and measurements:

FREEZE 1.70,-1.631,-1.785,0,1,0 SC_FREEKB 7688160

FINISH 1.7,1.026205 _24V_AH 13.46,62.233

SM_CCo 9128,78.32,0.151,0,0,1521,350.04 _10V_AH 13.70,0.000

SM_GC 2.34,7.82,0.30,78.32,0.097,0.150,0.151,206,2556,1521,-10.65,-0.34,350.04,0,0,0,0,0,0,14.71,14.63,14.54 FG_AHR_24Vo 0.000

RAFOS_CLK 385 FG_AHR_10Vo 0.000

RAFOS 0,1421798470,0.033333,0.019444,61,57,56,54,52,50,170,200,152,124,136,187 MEM 270960

RAFOS_FIX 6708.452148,-5658.826660,210115,000022,3,112,3.59 DATA_FILE_SIZE 20117,586

IRIDIUM_FIX 6631.12,-5643.07,200115,204414 CAP_FILE_SIZE 112213,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 260034560,234143744

HUMID 44.84 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.46935 INTR 0,10187.70,0x23769e,7,5

TCM_TEMP 13.00 SOUNDSPEED 1466.8

XPDR_PINGS 2 GPS 210115,021804,6704.041,-5649.002,39,1.1,39,-32.6

ALTIM_TOP_PING 19.2,16.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 475 138.92 nil 0 0 0.00

Roll_motor 84 164 186.18 nil 0 0 0.00

VBD_pump_during_apogee 361 1270 6181.08 nil 0 0 0.00

VBD_pump_during_surface 78 151 159.69 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 9127 7 883.78

Iridium_during_xfer 580 178 1392.84 nil 0 0 0.00

Transponder_ping 0 420 4.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.82

TT8 1294 11 203.43

LPSleep 6371 2 201.63

TT8_Active 593 11 93.22

TT8_Sampling 1495 30 634.06

TT8_CF8 278 36 138.07

TT8_Kalman 0 0 0.00

Analog_circuits 1694 11 255.34

GPS_charging 0 0 0.00

Compass 877 6 72.11

RAFOS 2520 1 51.79

Transponder 2 30 1.08

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 -146.0 202 2557 1514 1521 0.0 0.0 0 122 0.00 0.00 -101.18 0.000 16386 0.000 0.000 202 2558 3317 3285 3349 0 0 0 0 0 0 28.83 28.83 28.83

125 -1.60 -146.0 202 2558 3287 3350 3.7 -2.4 10 151 10.57 2.53 -6.35 0.000 18692 0.475 0.164 2183 3829 3549 3538 3560 0 0 0 0 0 0 14.14 14.34 14.64

244 -1.54 -146.0 2183 3829 3541 3560 23.0 -13.6 33 251 0.12 2.22 0.00 0.000 3078 0.307 0.060 2209 2533 3551 3542 3560 0 0 0 0 0 0 14.28 14.48 28.83

549 -1.54 -146.0 2208 2533 3542 3560 61.5 -12.8 50 551 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 2534 3551 3542 3560 0 0 0 0 0 0 28.83 28.83 28.83

851 -1.54 -146.0 2209 2533 3542 3559 94.8 -10.8 65 856 0.00 2.40 0.00 0.000 516 0.000 0.098 2209 1152 3552 3547 3557 0 0 0 0 0 0 28.83 14.54 28.83

914 -1.54 -146.0 2209 1152 3542 3558 101.3 -9.8 77 919 0.00 2.53 0.00 0.000 1030 0.000 0.112 2203 2552 3550 3542 3558 0 0 0 0 0 0 28.83 14.56 28.83

1237 -1.54 -146.0 2202 2552 3542 3554 135.3 -10.6 96 1242 0.00 2.42 0.00 0.000 260 0.000 0.136 2194 3843 3548 3542 3554 0 0 0 0 0 0 28.83 14.52 28.83

1294 -1.54 -146.0 2194 3843 3542 3554 141.8 -11.4 107 1301 0.00 2.20 0.00 0.000 1030 0.000 0.060 2194 2549 3548 3542 3554 0 0 0 0 0 0 28.83 14.66 28.83

1600 -1.54 -146.0 2194 2548 3542 3554 172.7 -9.8 123 1601 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2548 3547 3542 3553 0 0 0 0 0 0 28.83 28.83 28.83

1901 -1.54 -146.0 2194 2548 3542 3553 201.9 -9.9 138 1907 0.00 2.45 0.00 0.000 516 0.000 0.102 2194 1143 3547 3542 3553 0 0 0 0 0 0 28.83 14.59 28.83

1950 -1.54 -146.0 2194 1143 3537 3553 207.0 -10.4 147 1957 0.12 2.53 0.00 0.000 3078 0.323 0.118 2213 2550 3547 3542 3553 0 0 0 0 0 0 14.46 14.61 28.83

2270 -1.56 -146.0 2213 2550 3542 3553 236.2 -8.8 165 2275 0.00 2.40 0.00 0.000 260 0.000 0.136 2204 3840 3547 3542 3553 0 0 0 0 0 0 28.83 14.59 28.83

2333 -1.56 -146.0 2204 3840 3541 3556 242.4 -10.0 177 2338 0.00 2.17 0.00 0.000 1030 0.000 0.060 2204 2549 3548 3543 3553 0 0 0 0 0 0 28.83 14.70 28.83

2656 -1.56 -146.0 2204 2549 3543 3554 271.6 -8.9 192 2657 0.00 0.00 0.00 0.000 6 0.000 0.000 2204 2549 3549 3544 3554 0 0 0 0 0 0 28.83 28.83 28.83

2956 -1.56 -146.0 2204 2549 3544 3554 299.4 -9.3 202 2962 0.00 2.45 0.00 0.000 260 0.000 0.142 2195 3843 3549 3544 3554 0 0 0 0 0 0 28.83 14.60 28.83

2984 -1.56 -146.0 2195 3843 3545 3554 302.0 -9.7 207 2991 0.00 2.20 0.00 0.000 1030 0.000 0.060 2196 2538 3549 3544 3554 0 0 0 0 0 0 28.83 14.71 28.83

3291 -1.56 -146.0 2195 2538 3546 3554 330.1 -9.0 218 3292 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2538 3550 3546 3554 0 0 0 0 0 0 28.83 28.83 28.83

3590 -1.56 -146.0 2195 2538 3547 3555 356.7 -9.0 228 3596 0.00 2.45 0.00 0.000 260 0.000 0.137 2187 3845 3551 3547 3555 0 0 0 0 0 0 28.83 14.62 28.83

3657 -1.56 -146.0 2187 3844 3547 3555 363.2 -10.2 241 3663 0.10 2.17 0.00 0.000 3078 0.306 0.060 2205 2549 3551 3547 3555 0 0 0 0 0 0 14.49 14.73 28.83

3988 -1.59 -146.0 2206 2549 3548 3557 391.1 -8.4 256 3994 0.00 2.42 0.00 0.000 516 0.000 0.107 2206 1150 3552 3548 3557 0 0 0 0 0 0 28.83 14.66 28.83

4041 -1.61 -146.0 2206 1150 3548 3557 395.8 -8.4 266 4047 0.00 2.53 0.00 0.000 1030 0.000 0.118 2200 2561 3552 3548 3557 0 0 0 0 0 0 28.83 14.64 28.83

4357 -1.61 -146.0 2200 2561 3549 3557 421.3 -8.0 278 4362 0.00 2.47 0.00 0.000 516 0.000 0.104 2200 1141 3553 3549 3557 0 0 0 0 0 0 28.83 14.64 28.83

4404 -1.61 -146.0 2200 1141 3549 3557 425.3 -8.2 287 4410 0.00 2.55 0.00 0.000 1030 0.000 0.121 2193 2555 3553 3549 3558 0 0 0 0 0 0 28.83 14.64 28.83

4725 -1.63 -146.0 2194 2555 3550 3558 452.0 -8.4 300 4730 0.00 2.38 0.00 0.000 260 0.000 0.137 2184 3838 3554 3550 3559 0 0 0 0 0 0 28.83 14.63 28.83

4777 -1.63 -146.0 2184 3838 3557 3565 456.8 -9.3 310 4783 0.00 2.17 0.00 0.000 1030 0.000 0.060 2184 2545 3554 3550 3558 0 0 0 0 0 0 28.83 14.72 28.83

4908 end dive: TARGET_DEPTH_EXCEEDED

state 4908 begin apogee

4914 -0.38 0.0 2183 2392 3552 3559 468.2 -8.6 316 5079 1.00 0.00 160.95 1.271 10246 0.242 0.000 2464 2390 2950 2967 2933 0 0 0 0 0 0 14.53 28.83 13.61

5081 end apogee: CONTROL_FINISHED_OK

state 5081 begin climb

5083 1.60 146.0 2464 2391 2958 2922 470.2 0.0 321 5256 1.40 2.90 161.48 1.174 10500 0.155 0.143 2897 3809 2344 2385 2304 0 0 0 0 0 0 14.04 13.86 13.46

5294 1.55 146.0 2897 3809 2369 2292 447.6 15.0 352 5300 0.00 2.55 0.00 0.000 1030 0.000 0.076 2907 2408 2329 2368 2291 0 0 0 0 0 0 28.83 14.04 28.83

5607 1.55 146.0 2911 2413 2366 2283 405.9 13.2 364 5613 0.00 2.55 0.00 0.000 516 0.000 0.114 2916 992 2323 2366 2280 0 0 0 0 0 0 28.83 14.35 28.83

5659 1.55 146.0 2917 992 2366 2282 398.9 13.4 374 5665 0.12 2.60 0.00 0.000 5126 0.284 0.117 2890 2405 2324 2366 2282 0 0 0 0 0 0 14.28 14.38 28.83

5974 1.55 146.0 2890 2405 2366 2281 360.5 12.4 386 5980 0.00 2.53 0.00 0.000 516 0.000 0.111 2899 991 2324 2366 2282 0 0 0 0 0 0 28.83 14.50 28.83

6007 1.55 146.0 2898 991 2366 2282 356.2 12.5 392 6013 0.00 2.58 0.00 0.000 1030 0.000 0.116 2899 2408 2323 2366 2281 0 0 0 0 0 0 28.83 14.51 28.83

6341 1.55 146.0 2899 2408 2366 2281 313.2 12.9 408 6343 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2408 2323 2366 2281 0 0 0 0 0 0 28.83 28.83 28.83

6641 1.55 146.0 2899 2408 2366 2281 275.0 12.8 418 6642 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2408 2323 2366 2281 0 0 0 0 0 0 28.83 28.83 28.83

6950 1.55 146.0 2899 2408 2366 2281 236.1 12.2 430 6956 0.00 2.50 0.00 0.000 516 0.000 0.109 2909 991 2323 2366 2281 0 0 0 0 0 0 28.83 14.63 28.83

6983 1.55 146.0 2909 991 2366 2281 232.0 12.3 436 6988 0.00 2.53 0.00 0.000 1030 0.000 0.113 2909 2400 2323 2366 2281 0 0 0 0 0 0 28.83 14.63 28.83

7296 1.55 146.0 2909 2400 2362 2281 191.7 13.0 453 7297 0.10 0.00 0.00 0.000 4102 0.301 0.000 2888 2400 2323 2366 2281 0 0 0 0 0 0 14.56 28.83 28.83

7596 1.55 146.0 2888 2400 2366 2280 156.1 11.7 468 7597 0.00 0.00 0.00 0.000 6 0.000 0.000 2888 2400 2323 2366 2281 0 0 0 0 0 0 28.83 28.83 28.83

7897 1.55 146.0 2888 2400 2366 2281 120.3 11.7 483 7902 0.00 2.50 0.00 0.000 516 0.000 0.108 2897 979 2324 2367 2281 0 0 0 0 0 0 28.83 14.66 28.83

7943 1.55 146.0 2898 979 2366 2281 114.5 11.9 492 7949 0.00 2.55 0.00 0.000 1030 0.000 0.113 2897 2401 2322 2366 2278 0 0 0 0 0 0 28.83 14.65 28.83

8261 1.55 146.0 2898 2401 2366 2280 79.0 10.7 510 8267 0.00 2.67 0.00 0.000 260 0.000 0.141 2897 3813 2323 2366 2281 0 0 0 0 0 0 28.83 14.62 28.83

8299 1.53 146.0 2897 3813 2365 2282 74.5 11.4 517 8307 0.12 2.45 0.00 0.000 5126 0.288 0.074 2880 2392 2323 2366 2281 0 0 0 0 0 0 14.56 14.70 28.83

8605 1.63 189.2 2880 2392 2366 2282 46.2 8.0 533 8635 0.10 2.45 23.00 0.266 10756 0.168 0.105 2930 990 2178 2215 2141 0 0 0 0 0 0 14.73 14.63 14.47

8692 1.63 189.2 2930 990 2215 2156 37.9 11.0 550 8698 0.12 2.55 0.00 0.000 5126 0.285 0.113 2903 2401 2186 2215 2157 0 0 0 0 0 0 14.52 14.62 28.83

9002 1.70 213.1 2903 2401 2216 2161 10.0 8.9 575 9020 0.00 0.00 15.98 0.173 8198 0.000 0.000 2902 2401 2081 2118 2044 0 0 0 0 0 0 28.83 28.83 14.57

9079 end climb: SURFACE_DEPTH_REACHED

state 9079 begin surface coast

9111 end surface coast: CONTROL_FINISHED_OK

state 9111 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	256	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	200115,232906,6703.375,-5645.879,37,0.9,37,-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	2.23	MHEAD_RNG_PITCHd_Wd	289.9,165028,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-55.5	D_GRID	467
GPS2	200115,234225,6703.461,-5645.862,5,0.9,5,-32.5

FREEZE	1.70,-1.631,-1.785,0,1,0	SC_FREEKB	7688160
FINISH	1.7,1.026205	_24V_AH	13.46,62.233
SM_CCo	9128,78.32,0.151,0,0,1521,350.04	_10V_AH	13.70,0.000
SM_GC	2.34,7.82,0.30,78.32,0.097,0.150,0.151,206,2556,1521,-10.65,-0.34,350.04,0,0,0,0,0,0,14.71,14.63,14.54	FG_AHR_24Vo	0.000
RAFOS_CLK	385	FG_AHR_10Vo	0.000
RAFOS	0,1421798470,0.033333,0.019444,61,57,56,54,52,50,170,200,152,124,136,187	MEM	270960
RAFOS_FIX	6708.452148,-5658.826660,210115,000022,3,112,3.59	DATA_FILE_SIZE	20117,586
IRIDIUM_FIX	6631.12,-5643.07,200115,204414	CAP_FILE_SIZE	112213,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	260034560,234143744
HUMID	44.84	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.46935	INTR	0,10187.70,0x23769e,7,5
TCM_TEMP	13.00	SOUNDSPEED	1466.8
XPDR_PINGS	2	GPS	210115,021804,6704.041,-5649.002,39,1.1,39,-32.6
ALTIM_TOP_PING	19.2,16.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	475	138.92	nil	0	0	0.00
Roll_motor	84	164	186.18	nil	0	0	0.00
VBD_pump_during_apogee	361	1270	6181.08	nil	0	0	0.00
VBD_pump_during_surface	78	151	159.69	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	9127	7	883.78
Iridium_during_xfer	580	178	1392.84	nil	0	0	0.00
Transponder_ping	0	420	4.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.82
TT8	1294	11	203.43
LPSleep	6371	2	201.63
TT8_Active	593	11	93.22
TT8_Sampling	1495	30	634.06
TT8_CF8	278	36	138.07
TT8_Kalman	0	0	0.00
Analog_circuits	1694	11	255.34
GPS_charging	0	0	0.00
Compass	877	6	72.11
RAFOS	2520	1	51.79
Transponder	2	30	1.08

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	202	2557	1514	1521	0.0	0.0	0	122	0.00	0.00	-101.18	0.000	16386	0.000	0.000	202	2558	3317	3285	3349	0	0	0	0	0	0	28.83	28.83	28.83
125	-1.60	-146.0	202	2558	3287	3350	3.7	-2.4	10	151	10.57	2.53	-6.35	0.000	18692	0.475	0.164	2183	3829	3549	3538	3560	0	0	0	0	0	0	14.14	14.34	14.64
244	-1.54	-146.0	2183	3829	3541	3560	23.0	-13.6	33	251	0.12	2.22	0.00	0.000	3078	0.307	0.060	2209	2533	3551	3542	3560	0	0	0	0	0	0	14.28	14.48	28.83
549	-1.54	-146.0	2208	2533	3542	3560	61.5	-12.8	50	551	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	2534	3551	3542	3560	0	0	0	0	0	0	28.83	28.83	28.83
851	-1.54	-146.0	2209	2533	3542	3559	94.8	-10.8	65	856	0.00	2.40	0.00	0.000	516	0.000	0.098	2209	1152	3552	3547	3557	0	0	0	0	0	0	28.83	14.54	28.83
914	-1.54	-146.0	2209	1152	3542	3558	101.3	-9.8	77	919	0.00	2.53	0.00	0.000	1030	0.000	0.112	2203	2552	3550	3542	3558	0	0	0	0	0	0	28.83	14.56	28.83
1237	-1.54	-146.0	2202	2552	3542	3554	135.3	-10.6	96	1242	0.00	2.42	0.00	0.000	260	0.000	0.136	2194	3843	3548	3542	3554	0	0	0	0	0	0	28.83	14.52	28.83
1294	-1.54	-146.0	2194	3843	3542	3554	141.8	-11.4	107	1301	0.00	2.20	0.00	0.000	1030	0.000	0.060	2194	2549	3548	3542	3554	0	0	0	0	0	0	28.83	14.66	28.83
1600	-1.54	-146.0	2194	2548	3542	3554	172.7	-9.8	123	1601	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2548	3547	3542	3553	0	0	0	0	0	0	28.83	28.83	28.83
1901	-1.54	-146.0	2194	2548	3542	3553	201.9	-9.9	138	1907	0.00	2.45	0.00	0.000	516	0.000	0.102	2194	1143	3547	3542	3553	0	0	0	0	0	0	28.83	14.59	28.83
1950	-1.54	-146.0	2194	1143	3537	3553	207.0	-10.4	147	1957	0.12	2.53	0.00	0.000	3078	0.323	0.118	2213	2550	3547	3542	3553	0	0	0	0	0	0	14.46	14.61	28.83
2270	-1.56	-146.0	2213	2550	3542	3553	236.2	-8.8	165	2275	0.00	2.40	0.00	0.000	260	0.000	0.136	2204	3840	3547	3542	3553	0	0	0	0	0	0	28.83	14.59	28.83
2333	-1.56	-146.0	2204	3840	3541	3556	242.4	-10.0	177	2338	0.00	2.17	0.00	0.000	1030	0.000	0.060	2204	2549	3548	3543	3553	0	0	0	0	0	0	28.83	14.70	28.83
2656	-1.56	-146.0	2204	2549	3543	3554	271.6	-8.9	192	2657	0.00	0.00	0.00	0.000	6	0.000	0.000	2204	2549	3549	3544	3554	0	0	0	0	0	0	28.83	28.83	28.83
2956	-1.56	-146.0	2204	2549	3544	3554	299.4	-9.3	202	2962	0.00	2.45	0.00	0.000	260	0.000	0.142	2195	3843	3549	3544	3554	0	0	0	0	0	0	28.83	14.60	28.83
2984	-1.56	-146.0	2195	3843	3545	3554	302.0	-9.7	207	2991	0.00	2.20	0.00	0.000	1030	0.000	0.060	2196	2538	3549	3544	3554	0	0	0	0	0	0	28.83	14.71	28.83
3291	-1.56	-146.0	2195	2538	3546	3554	330.1	-9.0	218	3292	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2538	3550	3546	3554	0	0	0	0	0	0	28.83	28.83	28.83
3590	-1.56	-146.0	2195	2538	3547	3555	356.7	-9.0	228	3596	0.00	2.45	0.00	0.000	260	0.000	0.137	2187	3845	3551	3547	3555	0	0	0	0	0	0	28.83	14.62	28.83
3657	-1.56	-146.0	2187	3844	3547	3555	363.2	-10.2	241	3663	0.10	2.17	0.00	0.000	3078	0.306	0.060	2205	2549	3551	3547	3555	0	0	0	0	0	0	14.49	14.73	28.83
3988	-1.59	-146.0	2206	2549	3548	3557	391.1	-8.4	256	3994	0.00	2.42	0.00	0.000	516	0.000	0.107	2206	1150	3552	3548	3557	0	0	0	0	0	0	28.83	14.66	28.83
4041	-1.61	-146.0	2206	1150	3548	3557	395.8	-8.4	266	4047	0.00	2.53	0.00	0.000	1030	0.000	0.118	2200	2561	3552	3548	3557	0	0	0	0	0	0	28.83	14.64	28.83
4357	-1.61	-146.0	2200	2561	3549	3557	421.3	-8.0	278	4362	0.00	2.47	0.00	0.000	516	0.000	0.104	2200	1141	3553	3549	3557	0	0	0	0	0	0	28.83	14.64	28.83
4404	-1.61	-146.0	2200	1141	3549	3557	425.3	-8.2	287	4410	0.00	2.55	0.00	0.000	1030	0.000	0.121	2193	2555	3553	3549	3558	0	0	0	0	0	0	28.83	14.64	28.83
4725	-1.63	-146.0	2194	2555	3550	3558	452.0	-8.4	300	4730	0.00	2.38	0.00	0.000	260	0.000	0.137	2184	3838	3554	3550	3559	0	0	0	0	0	0	28.83	14.63	28.83
4777	-1.63	-146.0	2184	3838	3557	3565	456.8	-9.3	310	4783	0.00	2.17	0.00	0.000	1030	0.000	0.060	2184	2545	3554	3550	3558	0	0	0	0	0	0	28.83	14.72	28.83
4908	end dive: TARGET_DEPTH_EXCEEDED
state	4908	begin apogee
4914	-0.38	0.0	2183	2392	3552	3559	468.2	-8.6	316	5079	1.00	0.00	160.95	1.271	10246	0.242	0.000	2464	2390	2950	2967	2933	0	0	0	0	0	0	14.53	28.83	13.61
5081	end apogee: CONTROL_FINISHED_OK
state	5081	begin climb
5083	1.60	146.0	2464	2391	2958	2922	470.2	0.0	321	5256	1.40	2.90	161.48	1.174	10500	0.155	0.143	2897	3809	2344	2385	2304	0	0	0	0	0	0	14.04	13.86	13.46
5294	1.55	146.0	2897	3809	2369	2292	447.6	15.0	352	5300	0.00	2.55	0.00	0.000	1030	0.000	0.076	2907	2408	2329	2368	2291	0	0	0	0	0	0	28.83	14.04	28.83
5607	1.55	146.0	2911	2413	2366	2283	405.9	13.2	364	5613	0.00	2.55	0.00	0.000	516	0.000	0.114	2916	992	2323	2366	2280	0	0	0	0	0	0	28.83	14.35	28.83
5659	1.55	146.0	2917	992	2366	2282	398.9	13.4	374	5665	0.12	2.60	0.00	0.000	5126	0.284	0.117	2890	2405	2324	2366	2282	0	0	0	0	0	0	14.28	14.38	28.83
5974	1.55	146.0	2890	2405	2366	2281	360.5	12.4	386	5980	0.00	2.53	0.00	0.000	516	0.000	0.111	2899	991	2324	2366	2282	0	0	0	0	0	0	28.83	14.50	28.83
6007	1.55	146.0	2898	991	2366	2282	356.2	12.5	392	6013	0.00	2.58	0.00	0.000	1030	0.000	0.116	2899	2408	2323	2366	2281	0	0	0	0	0	0	28.83	14.51	28.83
6341	1.55	146.0	2899	2408	2366	2281	313.2	12.9	408	6343	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2408	2323	2366	2281	0	0	0	0	0	0	28.83	28.83	28.83
6641	1.55	146.0	2899	2408	2366	2281	275.0	12.8	418	6642	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2408	2323	2366	2281	0	0	0	0	0	0	28.83	28.83	28.83
6950	1.55	146.0	2899	2408	2366	2281	236.1	12.2	430	6956	0.00	2.50	0.00	0.000	516	0.000	0.109	2909	991	2323	2366	2281	0	0	0	0	0	0	28.83	14.63	28.83
6983	1.55	146.0	2909	991	2366	2281	232.0	12.3	436	6988	0.00	2.53	0.00	0.000	1030	0.000	0.113	2909	2400	2323	2366	2281	0	0	0	0	0	0	28.83	14.63	28.83
7296	1.55	146.0	2909	2400	2362	2281	191.7	13.0	453	7297	0.10	0.00	0.00	0.000	4102	0.301	0.000	2888	2400	2323	2366	2281	0	0	0	0	0	0	14.56	28.83	28.83
7596	1.55	146.0	2888	2400	2366	2280	156.1	11.7	468	7597	0.00	0.00	0.00	0.000	6	0.000	0.000	2888	2400	2323	2366	2281	0	0	0	0	0	0	28.83	28.83	28.83
7897	1.55	146.0	2888	2400	2366	2281	120.3	11.7	483	7902	0.00	2.50	0.00	0.000	516	0.000	0.108	2897	979	2324	2367	2281	0	0	0	0	0	0	28.83	14.66	28.83
7943	1.55	146.0	2898	979	2366	2281	114.5	11.9	492	7949	0.00	2.55	0.00	0.000	1030	0.000	0.113	2897	2401	2322	2366	2278	0	0	0	0	0	0	28.83	14.65	28.83
8261	1.55	146.0	2898	2401	2366	2280	79.0	10.7	510	8267	0.00	2.67	0.00	0.000	260	0.000	0.141	2897	3813	2323	2366	2281	0	0	0	0	0	0	28.83	14.62	28.83
8299	1.53	146.0	2897	3813	2365	2282	74.5	11.4	517	8307	0.12	2.45	0.00	0.000	5126	0.288	0.074	2880	2392	2323	2366	2281	0	0	0	0	0	0	14.56	14.70	28.83
8605	1.63	189.2	2880	2392	2366	2282	46.2	8.0	533	8635	0.10	2.45	23.00	0.266	10756	0.168	0.105	2930	990	2178	2215	2141	0	0	0	0	0	0	14.73	14.63	14.47
8692	1.63	189.2	2930	990	2215	2156	37.9	11.0	550	8698	0.12	2.55	0.00	0.000	5126	0.285	0.113	2903	2401	2186	2215	2157	0	0	0	0	0	0	14.52	14.62	28.83
9002	1.70	213.1	2903	2401	2216	2161	10.0	8.9	575	9020	0.00	0.00	15.98	0.173	8198	0.000	0.000	2902	2401	2081	2118	2044	0	0	0	0	0	0	28.83	28.83	14.57
9079	end climb: SURFACE_DEPTH_REACHED
state	9079	begin surface coast
9111	end surface coast: CONTROL_FINISHED_OK
state	9111	begin surface