Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 79 * 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 0

DIVE 79 ESCAPE_HEADING 0 C_ROLL_DIVE 2650 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0.5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 840 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 5

D_ABORT 950 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 20 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 300 R_STBD_OVSHOOT 14 XPDR_VALID 4

D_BOOST 100 N_FILEKB 8 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 5 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.93000001

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 500 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE1 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2951 DEVICE2 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE4 -1

T_DIVE 280 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 320 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 5 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 0 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 450 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 2 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 0

AD7714Ch0Gain 128 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_T_J 2.3253908e-06

AH0_10V 0 D_SAFE 0 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 840 PITCH_CNV 0.0046000001 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 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 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 5 FG_AHR_24V 0 PITCH_MIN 225 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 1 FILEMGR 0 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0.5 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 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 5 HD_C 6.0000002e-06 PROTOCOL 1 T_BOOST 5

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 280

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0 T_EPIRB 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_GPS 5

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 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 320

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 2650 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2951 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DBDW 0 MASS 52059 ROLL_MAX 3841 USE_BATHY 3

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 0

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 20 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 2 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 79 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 950 N_DIVES 0 SEABIRD_C_G -9.879467 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_FILEKB 8 SEABIRD_C_H 1.1201456 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_C_I -0.00035123606 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 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 49 SEABIRD_T_H 0.00062837056 XPDR_VALID 4

D_OFFGRID 450 PHONE_SUPPLY -2 SEABIRD_T_I 2.3004332e-05

Pre-dive calculations and measurements:

GPS1 231214,224935,6540.190,-5641.820,40,1.0,40,-31.1 SPEED_LIMITS 0.173,0.262

_CALLS 1 TGT_NAME TARGET_3

_XMS_NAKs 0 TGT_LATLONG 6600.000,-5650.000

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.10 MHEAD_RNG_PITCHd_Wd 8.6,37255,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -60.7 D_GRID 450

GPS2 231214,225501,6540.163,-5641.796,6,1.0,6,-31.1

Post-dive calculations and measurements:

FINISH 1.6,1.014968 _24V_AH 13.49,18.800

SM_CCo 9173,80.53,0.158,0,0,1726,300.00 _10V_AH 13.33,0.000

SM_GC 2.13,7.38,0.50,80.53,0.060,0.155,0.158,209,2650,1726,-10.65,-0.51,300.00,0,0,0,0,0,0,14.80,14.73,14.64 FG_AHR_24Vo 0.000

RAFOS_CLK 382 FG_AHR_10Vo 0.000

RAFOS 0,1419379261,0.033333,0.016944,65,60,53,49,49,48,212,159,128,187,105,146 MEM 313548

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23370,655

IRIDIUM_FIX 6512.01,-5640.36,231214,200906 CAP_FILE_SIZE 103209,0

TT8_MAMPS 0.025466,0.025466 CFSIZE 260034560,247021568

HUMID 45.86 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.51818 INTR 0,9751.01,0x23769e,7,5

TCM_TEMP 13.60 SOUNDSPEED 1470.0

XPDR_PINGS 0 CURRENT 0.057,126.10,1

SC_FREEKB 7744640 GPS 241214,013105,6541.126,-5642.648,29,1.4,29,-31.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 462 126.59 nil 0 0 0.00

Roll_motor 72 155 151.67 nil 0 0 0.00

VBD_pump_during_apogee 304 1228 5046.27 nil 0 0 0.00

VBD_pump_during_surface 80 157 171.19 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 9171 7 905.73

Iridium_during_xfer 210 148 421.58 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 30 2.74

TT8 1437 11 219.81

LPSleep 6295 2 193.86

TT8_Active 508 11 77.72

TT8_Sampling 1264 30 521.41

TT8_CF8 93 36 45.01

TT8_Kalman 0 0 0.00

Analog_circuits 1270 11 186.35

GPS_charging 0 0 0.00

Compass 973 6 77.89

RAFOS 2520 1 50.39

Transponder 0 5 0.04

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.60 -146.0 202 2650 1714 1720 0.0 0.0 0 113 0.00 0.00 -91.97 0.000 16386 0.000 0.000 202 2650 3415 3394 3436 0 0 0 0 0 0 28.83 28.83 28.83

115 -1.60 -146.0 202 2650 3394 3437 3.1 -2.0 9 138 10.00 2.50 -4.05 0.000 18948 0.463 0.128 2195 1239 3548 3543 3554 0 0 0 0 0 0 14.38 14.53 14.74

240 -1.58 -146.0 2195 1239 3547 3554 19.0 -11.3 33 247 0.00 2.58 0.00 0.000 1030 0.000 0.129 2189 2649 3551 3548 3554 0 0 0 0 0 0 28.83 14.55 28.83

554 -1.55 -146.0 2189 2649 3548 3554 52.2 -10.3 52 560 0.10 2.47 0.00 0.000 2564 0.357 0.099 2209 1237 3551 3548 3554 0 0 0 0 0 0 14.54 14.62 28.83

612 -1.55 -146.0 2208 1237 3548 3554 58.6 -9.9 63 618 0.00 2.58 0.00 0.000 1030 0.000 0.129 2202 2655 3550 3546 3554 0 0 0 0 0 0 28.83 14.62 28.83

917 -1.55 -146.0 2201 2655 3548 3552 89.9 -10.6 79 922 0.00 2.47 0.00 0.000 516 0.000 0.103 2202 1237 3551 3548 3554 0 0 0 0 0 0 28.83 14.66 28.83

979 -1.55 -146.0 2202 1238 3548 3553 96.4 -10.2 91 985 0.00 2.58 0.00 0.000 1030 0.000 0.131 2196 2650 3550 3548 3553 0 0 0 0 0 0 28.83 14.66 28.83

1303 -1.55 -146.0 2196 2650 3548 3552 127.9 -9.3 110 1304 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2650 3552 3548 3557 0 0 0 0 0 0 28.83 28.83 28.83

1602 -1.55 -146.0 2196 2650 3548 3550 157.9 -10.6 125 1609 0.00 2.47 0.00 0.000 516 0.000 0.108 2196 1238 3548 3548 3549 0 0 0 0 0 0 28.83 14.69 28.83

1680 -1.55 -146.0 2196 1238 3548 3549 166.7 -10.5 140 1687 0.10 2.58 0.00 0.000 3078 0.341 0.133 2209 2652 3549 3548 3550 0 0 0 0 0 0 14.60 14.70 28.83

1986 -1.55 -146.0 2209 2654 3548 3549 197.9 -9.8 156 1991 0.00 2.47 0.00 0.000 516 0.000 0.107 2210 1233 3552 3555 3549 0 0 0 0 0 0 28.83 14.71 28.83

2059 -1.55 -146.0 2210 1234 3548 3549 204.8 -10.1 170 2064 0.00 2.58 0.00 0.000 1030 0.000 0.135 2204 2652 3548 3548 3549 0 0 0 0 0 0 28.83 14.71 28.83

2371 -1.55 -146.0 2204 2652 3548 3549 232.3 -8.3 187 2377 0.00 2.47 0.00 0.000 516 0.000 0.109 2204 1234 3548 3548 3549 0 0 0 0 0 0 28.83 14.73 28.83

2479 -1.55 -146.0 2204 1234 3548 3549 241.1 -8.5 208 2484 0.00 2.58 0.00 0.000 1030 0.000 0.136 2198 2651 3548 3548 3549 0 0 0 0 0 0 28.83 14.72 28.83

2807 -1.55 -146.0 2198 2651 3545 3549 268.7 -8.7 223 2808 0.00 0.00 0.00 0.000 6 0.000 0.000 2198 2650 3548 3548 3549 0 0 0 0 0 0 28.83 28.83 28.83

3107 -1.55 -146.0 2198 2650 3548 3549 294.1 -8.4 233 3113 0.00 2.45 0.00 0.000 516 0.000 0.109 2198 1241 3548 3548 3549 0 0 0 0 0 0 28.83 14.75 28.83

3184 -1.55 -146.0 2198 1241 3548 3549 300.7 -8.3 248 3189 0.00 2.55 0.00 0.000 1030 0.000 0.137 2191 2652 3548 3548 3549 0 0 0 0 0 0 28.83 14.74 28.83

3502 -1.55 -146.0 2192 2652 3549 3549 326.5 -7.9 261 3504 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 2652 3549 3549 3549 0 0 0 0 0 0 28.83 28.83 28.83

3802 -1.55 -146.0 2192 2652 3550 3549 349.3 -7.5 271 3808 0.10 2.47 0.00 0.000 2564 0.345 0.111 2211 1241 3549 3550 3549 0 0 0 0 0 0 14.69 14.76 28.83

3965 -1.58 -146.0 2210 1240 3551 3549 361.4 -7.4 303 3970 0.00 2.58 0.00 0.000 1030 0.000 0.139 2204 2657 3550 3551 3549 0 0 0 0 0 0 28.83 14.76 28.83

4288 -1.58 -146.0 2204 2656 3551 3550 384.4 -7.2 317 4294 0.00 2.47 0.00 0.000 516 0.000 0.113 2204 1238 3553 3551 3555 0 0 0 0 0 0 28.83 14.76 28.83

4420 -1.58 -146.0 2204 1238 3551 3549 394.4 -7.6 343 4426 0.00 2.58 0.00 0.000 1030 0.000 0.139 2198 2655 3552 3551 3554 0 0 0 0 0 0 28.83 14.75 28.83

4743 -1.58 -146.0 2198 2655 3551 3549 418.5 -7.6 357 4750 0.00 2.47 0.00 0.000 516 0.000 0.114 2198 1240 3550 3551 3550 0 0 0 0 0 0 28.83 14.76 28.83

4852 -1.58 -146.0 2198 1239 3551 3550 426.8 -7.5 378 4858 0.00 2.58 0.00 0.000 1030 0.000 0.140 2191 2653 3550 3551 3550 0 0 0 0 0 0 28.83 14.75 28.83

5169 end dive: TARGET_DEPTH_EXCEEDED

state 5169 begin apogee

5174 -0.38 0.0 2191 2391 3551 3550 450.1 -7.2 391 5329 0.95 0.00 151.80 1.229 10246 0.246 0.000 2460 2390 2950 2970 2930 0 0 0 0 0 0 14.69 28.83 13.62

5331 end apogee: CONTROL_FINISHED_OK

state 5331 begin climb

5332 1.60 146.0 2460 2391 2962 2922 451.2 0.0 396 5495 1.40 2.97 152.68 1.158 10500 0.155 0.155 2896 3813 2346 2393 2299 0 0 0 0 0 0 14.04 13.86 13.49

5552 1.55 146.0 2895 3813 2380 2293 425.7 15.5 441 5558 0.00 2.55 0.00 0.000 1030 0.000 0.086 2905 2413 2336 2380 2293 0 0 0 0 0 0 28.83 14.09 28.83

5875 1.53 146.0 2905 2413 2377 2288 379.3 14.7 454 5876 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 2413 2332 2377 2288 0 0 0 0 0 0 28.83 28.83 28.83

6171 1.51 146.0 2905 2413 2375 2287 336.6 13.9 464 6177 0.12 2.58 0.00 0.000 4612 0.305 0.129 2883 986 2328 2370 2287 0 0 0 0 0 0 14.45 14.51 28.83

6254 1.51 146.0 2883 986 2374 2287 326.0 12.4 480 6259 0.00 2.60 0.00 0.000 1030 0.000 0.131 2879 2410 2330 2374 2287 0 0 0 0 0 0 28.83 14.54 28.83

6566 1.51 146.0 2883 2409 2373 2286 286.3 12.8 492 6567 0.00 0.00 0.00 0.000 6 0.000 0.000 2883 2410 2330 2374 2286 0 0 0 0 0 0 28.83 28.83 28.83

6867 1.51 146.0 2883 2410 2374 2285 246.9 13.3 502 6868 0.00 0.00 0.00 0.000 6 0.000 0.000 2882 2408 2329 2374 2285 0 0 0 0 0 0 28.83 28.83 28.83

7167 1.51 146.0 2883 2410 2374 2285 209.4 11.9 517 7168 0.00 0.00 0.00 0.000 6 0.000 0.000 2883 2410 2329 2374 2285 0 0 0 0 0 0 28.83 28.83 28.83

7467 1.51 146.0 2883 2410 2374 2284 176.3 10.4 532 7468 0.00 0.00 0.00 0.000 6 0.000 0.000 2882 2410 2329 2374 2284 0 0 0 0 0 0 28.83 28.83 28.83

7767 1.51 146.0 2883 2410 2374 2284 145.0 10.1 547 7772 0.00 2.65 0.00 0.000 260 0.000 0.148 2883 3815 2329 2374 2284 0 0 0 0 0 0 28.83 14.69 28.83

7879 1.51 146.0 2883 3816 2372 2287 132.2 11.6 569 7885 0.00 2.47 0.00 0.000 1030 0.000 0.084 2893 2392 2329 2372 2287 0 0 0 0 0 0 28.83 14.73 28.83

8193 1.51 146.0 2893 2392 2373 2288 99.5 10.5 586 8198 0.00 2.70 0.00 0.000 260 0.000 0.154 2893 3810 2329 2372 2287 0 0 0 0 0 0 28.83 14.70 28.83

8245 1.49 146.0 2893 3815 2372 2288 93.1 12.6 596 8251 0.12 2.45 0.00 0.000 5126 0.311 0.083 2876 2396 2330 2372 2288 0 0 0 0 0 0 14.64 14.73 28.83

8559 1.52 146.0 2876 2396 2372 2288 60.8 10.1 613 8560 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2396 2330 2373 2288 0 0 0 0 0 0 28.83 28.83 28.83

8860 1.56 152.0 2876 2396 2372 2288 30.7 9.7 628 8861 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2396 2330 2372 2288 0 0 0 0 0 0 28.83 28.83 28.83

9137 end climb: SURFACE_DEPTH_REACHED

state 9137 begin surface coast

9158 end surface coast: CONTROL_FINISHED_OK

state 9158 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	0
DIVE	79	ESCAPE_HEADING	0	C_ROLL_DIVE	2650	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0.5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	840	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	5
D_ABORT	950	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	20	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	300	R_STBD_OVSHOOT	14	XPDR_VALID	4
D_BOOST	100	N_FILEKB	8	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	5	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.93000001
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	500	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE1	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2951	DEVICE2	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE4	-1
T_DIVE	280	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	320	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	5	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	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	450	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	2	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	0

GPS1	231214,224935,6540.190,-5641.820,40,1.0,40,-31.1	SPEED_LIMITS	0.173,0.262
_CALLS	1	TGT_NAME	TARGET_3
_XMS_NAKs	0	TGT_LATLONG	6600.000,-5650.000
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.10	MHEAD_RNG_PITCHd_Wd	8.6,37255,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-60.7	D_GRID	450
GPS2	231214,225501,6540.163,-5641.796,6,1.0,6,-31.1

FINISH	1.6,1.014968	_24V_AH	13.49,18.800
SM_CCo	9173,80.53,0.158,0,0,1726,300.00	_10V_AH	13.33,0.000
SM_GC	2.13,7.38,0.50,80.53,0.060,0.155,0.158,209,2650,1726,-10.65,-0.51,300.00,0,0,0,0,0,0,14.80,14.73,14.64	FG_AHR_24Vo	0.000
RAFOS_CLK	382	FG_AHR_10Vo	0.000
RAFOS	0,1419379261,0.033333,0.016944,65,60,53,49,49,48,212,159,128,187,105,146	MEM	313548
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23370,655
IRIDIUM_FIX	6512.01,-5640.36,231214,200906	CAP_FILE_SIZE	103209,0
TT8_MAMPS	0.025466,0.025466	CFSIZE	260034560,247021568
HUMID	45.86	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.51818	INTR	0,9751.01,0x23769e,7,5
TCM_TEMP	13.60	SOUNDSPEED	1470.0
XPDR_PINGS	0	CURRENT	0.057,126.10,1
SC_FREEKB	7744640	GPS	241214,013105,6541.126,-5642.648,29,1.4,29,-31.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	462	126.59	nil	0	0	0.00
Roll_motor	72	155	151.67	nil	0	0	0.00
VBD_pump_during_apogee	304	1228	5046.27	nil	0	0	0.00
VBD_pump_during_surface	80	157	171.19	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	9171	7	905.73
Iridium_during_xfer	210	148	421.58	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	30	2.74
TT8	1437	11	219.81
LPSleep	6295	2	193.86
TT8_Active	508	11	77.72
TT8_Sampling	1264	30	521.41
TT8_CF8	93	36	45.01
TT8_Kalman	0	0	0.00
Analog_circuits	1270	11	186.35
GPS_charging	0	0	0.00
Compass	973	6	77.89
RAFOS	2520	1	50.39
Transponder	0	5	0.04

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.60	-146.0	202	2650	1714	1720	0.0	0.0	0	113	0.00	0.00	-91.97	0.000	16386	0.000	0.000	202	2650	3415	3394	3436	0	0	0	0	0	0	28.83	28.83	28.83
115	-1.60	-146.0	202	2650	3394	3437	3.1	-2.0	9	138	10.00	2.50	-4.05	0.000	18948	0.463	0.128	2195	1239	3548	3543	3554	0	0	0	0	0	0	14.38	14.53	14.74
240	-1.58	-146.0	2195	1239	3547	3554	19.0	-11.3	33	247	0.00	2.58	0.00	0.000	1030	0.000	0.129	2189	2649	3551	3548	3554	0	0	0	0	0	0	28.83	14.55	28.83
554	-1.55	-146.0	2189	2649	3548	3554	52.2	-10.3	52	560	0.10	2.47	0.00	0.000	2564	0.357	0.099	2209	1237	3551	3548	3554	0	0	0	0	0	0	14.54	14.62	28.83
612	-1.55	-146.0	2208	1237	3548	3554	58.6	-9.9	63	618	0.00	2.58	0.00	0.000	1030	0.000	0.129	2202	2655	3550	3546	3554	0	0	0	0	0	0	28.83	14.62	28.83
917	-1.55	-146.0	2201	2655	3548	3552	89.9	-10.6	79	922	0.00	2.47	0.00	0.000	516	0.000	0.103	2202	1237	3551	3548	3554	0	0	0	0	0	0	28.83	14.66	28.83
979	-1.55	-146.0	2202	1238	3548	3553	96.4	-10.2	91	985	0.00	2.58	0.00	0.000	1030	0.000	0.131	2196	2650	3550	3548	3553	0	0	0	0	0	0	28.83	14.66	28.83
1303	-1.55	-146.0	2196	2650	3548	3552	127.9	-9.3	110	1304	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2650	3552	3548	3557	0	0	0	0	0	0	28.83	28.83	28.83
1602	-1.55	-146.0	2196	2650	3548	3550	157.9	-10.6	125	1609	0.00	2.47	0.00	0.000	516	0.000	0.108	2196	1238	3548	3548	3549	0	0	0	0	0	0	28.83	14.69	28.83
1680	-1.55	-146.0	2196	1238	3548	3549	166.7	-10.5	140	1687	0.10	2.58	0.00	0.000	3078	0.341	0.133	2209	2652	3549	3548	3550	0	0	0	0	0	0	14.60	14.70	28.83
1986	-1.55	-146.0	2209	2654	3548	3549	197.9	-9.8	156	1991	0.00	2.47	0.00	0.000	516	0.000	0.107	2210	1233	3552	3555	3549	0	0	0	0	0	0	28.83	14.71	28.83
2059	-1.55	-146.0	2210	1234	3548	3549	204.8	-10.1	170	2064	0.00	2.58	0.00	0.000	1030	0.000	0.135	2204	2652	3548	3548	3549	0	0	0	0	0	0	28.83	14.71	28.83
2371	-1.55	-146.0	2204	2652	3548	3549	232.3	-8.3	187	2377	0.00	2.47	0.00	0.000	516	0.000	0.109	2204	1234	3548	3548	3549	0	0	0	0	0	0	28.83	14.73	28.83
2479	-1.55	-146.0	2204	1234	3548	3549	241.1	-8.5	208	2484	0.00	2.58	0.00	0.000	1030	0.000	0.136	2198	2651	3548	3548	3549	0	0	0	0	0	0	28.83	14.72	28.83
2807	-1.55	-146.0	2198	2651	3545	3549	268.7	-8.7	223	2808	0.00	0.00	0.00	0.000	6	0.000	0.000	2198	2650	3548	3548	3549	0	0	0	0	0	0	28.83	28.83	28.83
3107	-1.55	-146.0	2198	2650	3548	3549	294.1	-8.4	233	3113	0.00	2.45	0.00	0.000	516	0.000	0.109	2198	1241	3548	3548	3549	0	0	0	0	0	0	28.83	14.75	28.83
3184	-1.55	-146.0	2198	1241	3548	3549	300.7	-8.3	248	3189	0.00	2.55	0.00	0.000	1030	0.000	0.137	2191	2652	3548	3548	3549	0	0	0	0	0	0	28.83	14.74	28.83
3502	-1.55	-146.0	2192	2652	3549	3549	326.5	-7.9	261	3504	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	2652	3549	3549	3549	0	0	0	0	0	0	28.83	28.83	28.83
3802	-1.55	-146.0	2192	2652	3550	3549	349.3	-7.5	271	3808	0.10	2.47	0.00	0.000	2564	0.345	0.111	2211	1241	3549	3550	3549	0	0	0	0	0	0	14.69	14.76	28.83
3965	-1.58	-146.0	2210	1240	3551	3549	361.4	-7.4	303	3970	0.00	2.58	0.00	0.000	1030	0.000	0.139	2204	2657	3550	3551	3549	0	0	0	0	0	0	28.83	14.76	28.83
4288	-1.58	-146.0	2204	2656	3551	3550	384.4	-7.2	317	4294	0.00	2.47	0.00	0.000	516	0.000	0.113	2204	1238	3553	3551	3555	0	0	0	0	0	0	28.83	14.76	28.83
4420	-1.58	-146.0	2204	1238	3551	3549	394.4	-7.6	343	4426	0.00	2.58	0.00	0.000	1030	0.000	0.139	2198	2655	3552	3551	3554	0	0	0	0	0	0	28.83	14.75	28.83
4743	-1.58	-146.0	2198	2655	3551	3549	418.5	-7.6	357	4750	0.00	2.47	0.00	0.000	516	0.000	0.114	2198	1240	3550	3551	3550	0	0	0	0	0	0	28.83	14.76	28.83
4852	-1.58	-146.0	2198	1239	3551	3550	426.8	-7.5	378	4858	0.00	2.58	0.00	0.000	1030	0.000	0.140	2191	2653	3550	3551	3550	0	0	0	0	0	0	28.83	14.75	28.83
5169	end dive: TARGET_DEPTH_EXCEEDED
state	5169	begin apogee
5174	-0.38	0.0	2191	2391	3551	3550	450.1	-7.2	391	5329	0.95	0.00	151.80	1.229	10246	0.246	0.000	2460	2390	2950	2970	2930	0	0	0	0	0	0	14.69	28.83	13.62
5331	end apogee: CONTROL_FINISHED_OK
state	5331	begin climb
5332	1.60	146.0	2460	2391	2962	2922	451.2	0.0	396	5495	1.40	2.97	152.68	1.158	10500	0.155	0.155	2896	3813	2346	2393	2299	0	0	0	0	0	0	14.04	13.86	13.49
5552	1.55	146.0	2895	3813	2380	2293	425.7	15.5	441	5558	0.00	2.55	0.00	0.000	1030	0.000	0.086	2905	2413	2336	2380	2293	0	0	0	0	0	0	28.83	14.09	28.83
5875	1.53	146.0	2905	2413	2377	2288	379.3	14.7	454	5876	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	2413	2332	2377	2288	0	0	0	0	0	0	28.83	28.83	28.83
6171	1.51	146.0	2905	2413	2375	2287	336.6	13.9	464	6177	0.12	2.58	0.00	0.000	4612	0.305	0.129	2883	986	2328	2370	2287	0	0	0	0	0	0	14.45	14.51	28.83
6254	1.51	146.0	2883	986	2374	2287	326.0	12.4	480	6259	0.00	2.60	0.00	0.000	1030	0.000	0.131	2879	2410	2330	2374	2287	0	0	0	0	0	0	28.83	14.54	28.83
6566	1.51	146.0	2883	2409	2373	2286	286.3	12.8	492	6567	0.00	0.00	0.00	0.000	6	0.000	0.000	2883	2410	2330	2374	2286	0	0	0	0	0	0	28.83	28.83	28.83
6867	1.51	146.0	2883	2410	2374	2285	246.9	13.3	502	6868	0.00	0.00	0.00	0.000	6	0.000	0.000	2882	2408	2329	2374	2285	0	0	0	0	0	0	28.83	28.83	28.83
7167	1.51	146.0	2883	2410	2374	2285	209.4	11.9	517	7168	0.00	0.00	0.00	0.000	6	0.000	0.000	2883	2410	2329	2374	2285	0	0	0	0	0	0	28.83	28.83	28.83
7467	1.51	146.0	2883	2410	2374	2284	176.3	10.4	532	7468	0.00	0.00	0.00	0.000	6	0.000	0.000	2882	2410	2329	2374	2284	0	0	0	0	0	0	28.83	28.83	28.83
7767	1.51	146.0	2883	2410	2374	2284	145.0	10.1	547	7772	0.00	2.65	0.00	0.000	260	0.000	0.148	2883	3815	2329	2374	2284	0	0	0	0	0	0	28.83	14.69	28.83
7879	1.51	146.0	2883	3816	2372	2287	132.2	11.6	569	7885	0.00	2.47	0.00	0.000	1030	0.000	0.084	2893	2392	2329	2372	2287	0	0	0	0	0	0	28.83	14.73	28.83
8193	1.51	146.0	2893	2392	2373	2288	99.5	10.5	586	8198	0.00	2.70	0.00	0.000	260	0.000	0.154	2893	3810	2329	2372	2287	0	0	0	0	0	0	28.83	14.70	28.83
8245	1.49	146.0	2893	3815	2372	2288	93.1	12.6	596	8251	0.12	2.45	0.00	0.000	5126	0.311	0.083	2876	2396	2330	2372	2288	0	0	0	0	0	0	14.64	14.73	28.83
8559	1.52	146.0	2876	2396	2372	2288	60.8	10.1	613	8560	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2396	2330	2373	2288	0	0	0	0	0	0	28.83	28.83	28.83
8860	1.56	152.0	2876	2396	2372	2288	30.7	9.7	628	8861	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2396	2330	2372	2288	0	0	0	0	0	0	28.83	28.83	28.83
9137	end climb: SURFACE_DEPTH_REACHED
state	9137	begin surface coast
9158	end surface coast: CONTROL_FINISHED_OK
state	9158	begin surface