Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 80 * 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 80 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 19 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 300 R_STBD_OVSHOOT 13 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 6 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 6

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 19 VBD_DBAND 2

DEVICE4 -1 MISSION 4 R_STBD_OVSHOOT 13 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 80 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 241214,013105,6541.126,-5642.648,29,1.4,29,-31.1 SPEED_LIMITS 0.173,0.262

_CALLS 2 TGT_NAME TARGET_3

_XMS_NAKs 0 TGT_LATLONG 6600.000,-5650.000

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.09 MHEAD_RNG_PITCHd_Wd 13.3,35368,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -59.2 D_GRID 450

GPS2 241214,013831,6541.137,-5642.667,5,1.3,5,-31.1

Post-dive calculations and measurements:

FINISH 1.6,1.025599 _10V_AH 13.72,0.000

SM_CCo 8692,79.95,0.158,0,0,1726,300.00 FG_AHR_24Vo 0.000

SM_GC 2.25,7.60,0.47,79.95,0.082,0.155,0.158,211,2646,1726,-10.64,-0.54,300.00,0,0,0,0,0,0,14.78,14.72,14.64 FG_AHR_10Vo 0.000

RAFOS_CLK 364 MEM 272244

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 20042,579

IRIDIUM_FIX 6512.01,-5638.87,241214,013304 CAP_FILE_SIZE 94041,0

TT8_MAMPS 0.027713,0.027713 CFSIZE 260034560,246972416

HUMID 45.47 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.51818 INTR 0,9813.60,0x23769e,7,5

TCM_TEMP 13.80 SOUNDSPEED 1468.8

XPDR_PINGS 3 CURRENT 0.079,50.42,1

SC_FREEKB 7744320 GPS 241214,040635,6542.538,-5643.117,28,1.1,28,-31.1

_24V_AH 13.47,18.966

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 453 123.28 nil 0 0 0.00

Roll_motor 59 179 144.14 nil 0 0 0.00

VBD_pump_during_apogee 308 1227 5106.07 nil 0 0 0.00

VBD_pump_during_surface 79 158 170.54 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 8678 7 856.24

Iridium_during_xfer 270 151 552.31 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 2.81

TT8 1352 11 212.79

LPSleep 6041 2 191.49

TT8_Active 551 11 86.76

TT8_Sampling 1201 30 509.90

TT8_CF8 96 36 47.80

TT8_Kalman 0 0 0.00

Analog_circuits 1291 11 194.86

GPS_charging 0 0 0.00

Compass 866 6 71.32

RAFOS 360 1 7.41

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 -146.0 207 2650 1716 1718 0.0 0.0 0 113 0.00 0.00 -92.35 0.000 16386 0.000 0.000 206 2651 3409 3384 3434 0 0 0 0 0 0 28.83 28.83 28.83

115 -1.60 -146.0 207 2651 3386 3434 3.3 -2.1 9 138 9.80 2.33 -4.18 0.000 18692 0.454 0.180 2190 3832 3549 3544 3554 0 0 0 0 0 0 14.38 14.49 14.73

281 -1.56 -146.0 2190 3832 3547 3554 25.1 -13.0 41 287 0.00 2.03 0.00 0.000 1030 0.000 0.063 2190 2634 3551 3548 3554 0 0 0 0 0 0 28.83 14.62 28.83

604 -1.53 -146.0 2190 2634 3548 3554 62.6 -11.3 60 610 0.12 2.40 0.00 0.000 2564 0.316 0.101 2220 1256 3551 3548 3554 0 0 0 0 0 0 14.52 14.62 28.83

651 -1.53 -146.0 2220 1256 3548 3554 67.7 -10.3 69 657 0.00 2.55 0.00 0.000 1030 0.000 0.129 2214 2656 3551 3548 3554 0 0 0 0 0 0 28.83 14.62 28.83

969 -1.53 -146.0 2215 2656 3548 3554 99.3 -10.0 87 975 0.00 2.47 0.00 0.000 516 0.000 0.105 2214 1246 3551 3548 3554 0 0 0 0 0 0 28.83 14.66 28.83

1052 -1.53 -146.0 2215 1246 3548 3554 107.5 -9.7 103 1058 0.00 2.55 0.00 0.000 1030 0.000 0.131 2206 2651 3551 3548 3554 0 0 0 0 0 0 28.83 14.64 28.83

1376 -1.53 -146.0 2207 2651 3548 3553 137.4 -8.6 122 1381 0.00 2.45 0.00 0.000 516 0.000 0.110 2206 1253 3550 3548 3552 0 0 0 0 0 0 28.83 14.68 28.83

1422 -1.53 -146.0 2207 1253 3548 3552 141.9 -9.1 131 1427 0.00 2.55 0.00 0.000 1030 0.000 0.135 2200 2652 3550 3548 3552 0 0 0 0 0 0 28.83 14.66 28.83

1740 -1.53 -146.0 2200 2652 3548 3550 167.6 -7.4 149 1741 0.00 0.00 0.00 0.000 6 0.000 0.000 2200 2652 3549 3548 3550 0 0 0 0 0 0 28.83 28.83 28.83

2040 -1.53 -146.0 2200 2652 3548 3550 189.8 -7.3 164 2046 0.00 2.45 0.00 0.000 516 0.000 0.112 2200 1255 3548 3548 3549 0 0 0 0 0 0 28.83 14.71 28.83

2149 -1.53 -146.0 2200 1254 3548 3549 198.4 -8.1 185 2155 0.10 2.55 0.00 0.000 3078 0.334 0.137 2212 2650 3551 3554 3549 0 0 0 0 0 0 14.62 14.70 28.83

2468 -1.56 -146.0 2212 2650 3548 3549 221.8 -8.0 203 2469 0.00 0.00 0.00 0.000 6 0.000 0.000 2212 2651 3548 3547 3549 0 0 0 0 0 0 28.83 28.83 28.83

2769 -1.58 -146.0 2212 2651 3548 3549 246.0 -8.3 218 2774 0.00 2.45 0.00 0.000 516 0.000 0.109 2213 1247 3549 3549 3549 0 0 0 0 0 0 28.83 14.73 28.83

2893 -1.61 -146.0 2212 1246 3548 3549 257.2 -9.5 242 2899 0.00 2.55 0.00 0.000 1030 0.000 0.137 2206 2650 3548 3548 3549 0 0 0 0 0 0 28.83 14.73 28.83

3227 -1.63 -146.0 2206 2650 3548 3549 291.8 -10.7 258 3233 0.00 2.45 0.00 0.000 516 0.000 0.110 2206 1248 3548 3547 3549 0 0 0 0 0 0 28.83 14.74 28.83

3300 -1.63 -146.0 2206 1248 3548 3550 300.1 -11.5 272 3306 0.00 2.55 0.00 0.000 1030 0.000 0.138 2199 2651 3549 3548 3550 0 0 0 0 0 0 28.83 14.73 28.83

3624 -1.63 -146.0 2199 2650 3549 3550 335.6 -10.8 286 3625 0.00 0.00 0.00 0.000 6 0.000 0.000 2199 2655 3549 3549 3550 0 0 0 0 0 0 28.83 28.83 28.83

3923 -1.63 -146.0 2199 2651 3551 3550 365.2 -9.6 296 3929 0.00 2.45 0.00 0.000 516 0.000 0.112 2199 1246 3548 3551 3545 0 0 0 0 0 0 28.83 14.76 28.83

4106 -1.63 -146.0 2199 1246 3551 3550 383.0 -9.0 332 4111 0.00 2.55 0.00 0.000 1030 0.000 0.141 2193 2649 3551 3551 3551 0 0 0 0 0 0 28.83 14.75 28.83

4440 -1.63 -146.0 2193 2650 3551 3550 412.0 -8.6 348 4445 0.00 2.45 0.00 0.000 516 0.000 0.114 2192 1249 3550 3551 3550 0 0 0 0 0 0 28.83 14.76 28.83

4542 -1.63 -146.0 2193 1250 3551 3550 420.9 -8.6 368 4547 0.00 2.55 0.00 0.000 1030 0.000 0.142 2187 2651 3551 3551 3551 0 0 0 0 0 0 28.83 14.74 28.83

4866 -1.63 -146.0 2187 2656 3551 3551 447.5 -8.2 382 4871 0.00 2.45 0.00 0.000 516 0.000 0.115 2189 1250 3551 3551 3551 0 0 0 0 0 0 28.83 14.76 28.83

4897 end dive: TARGET_DEPTH_EXCEEDED

state 4897 begin apogee

4903 -0.38 0.0 2182 2402 3551 3551 450.4 -8.3 388 5061 1.00 0.00 153.62 1.227 10246 0.252 0.000 2462 2402 2950 2970 2930 0 0 0 0 0 0 14.67 28.83 13.61

5062 end apogee: CONTROL_FINISHED_OK

state 5062 begin climb

5064 1.60 146.0 2462 2402 2962 2922 452.9 0.0 393 5230 1.42 0.00 155.30 1.164 10246 0.155 0.000 2899 2401 2343 2389 2297 0 0 0 0 0 0 14.04 28.83 13.47

5529 1.60 146.0 2898 2402 2378 2286 398.8 12.7 409 5530 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2401 2332 2378 2286 0 0 0 0 0 0 28.83 28.83 28.83

5829 1.60 146.0 2899 2402 2377 2284 360.3 13.1 419 5830 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2402 2330 2377 2284 0 0 0 0 0 0 28.83 28.83 28.83

6128 1.60 146.0 2899 2402 2375 2284 318.9 14.1 429 6130 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2401 2330 2376 2284 0 0 0 0 0 0 28.83 28.83 28.83

6429 1.60 146.0 2899 2401 2375 2284 277.5 13.7 439 6430 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2401 2329 2376 2283 0 0 0 0 0 0 28.83 28.83 28.83

6739 1.60 146.0 2895 2402 2376 2283 234.6 13.7 451 6740 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2402 2329 2376 2282 0 0 0 0 0 0 28.83 28.83 28.83

7040 1.60 146.0 2899 2401 2376 2282 193.6 13.9 466 7046 0.00 2.65 0.00 0.000 260 0.000 0.151 2898 3809 2329 2376 2283 0 0 0 0 0 0 28.83 14.66 28.83

7083 1.55 146.0 2899 3809 2373 2285 186.8 15.7 474 7090 0.00 2.42 0.00 0.000 1030 0.000 0.085 2908 2412 2329 2373 2285 0 0 0 0 0 0 28.83 14.71 28.83

7406 1.55 146.0 2908 2412 2373 2285 143.5 12.5 493 7407 0.00 0.00 0.00 0.000 6 0.000 0.000 2908 2412 2329 2373 2285 0 0 0 0 0 0 28.83 28.83 28.83

7707 1.55 146.0 2908 2412 2373 2285 107.6 11.4 508 7708 0.00 0.00 0.00 0.000 6 0.000 0.000 2908 2412 2329 2373 2285 0 0 0 0 0 0 28.83 28.83 28.83

8008 1.55 146.0 2908 2412 2373 2287 74.4 11.0 523 8009 0.00 0.00 0.00 0.000 6 0.000 0.000 2908 2411 2329 2373 2286 0 0 0 0 0 0 28.83 28.83 28.83

8307 1.55 146.0 2908 2412 2373 2287 40.2 11.9 538 8313 0.00 2.53 0.00 0.000 516 0.000 0.123 2919 982 2330 2373 2288 0 0 0 0 0 0 28.83 14.72 28.83

8371 1.55 146.0 2918 982 2375 2288 32.4 12.2 550 8377 0.12 2.53 0.00 0.000 5126 0.313 0.125 2891 2400 2330 2373 2288 0 0 0 0 0 0 14.66 14.73 28.83

8653 end climb: SURFACE_DEPTH_REACHED

state 8653 begin surface coast

8675 end surface coast: CONTROL_FINISHED_OK

state 8675 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	80	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	19	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	300	R_STBD_OVSHOOT	13	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	6	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	241214,013105,6541.126,-5642.648,29,1.4,29,-31.1	SPEED_LIMITS	0.173,0.262
_CALLS	2	TGT_NAME	TARGET_3
_XMS_NAKs	0	TGT_LATLONG	6600.000,-5650.000
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.09	MHEAD_RNG_PITCHd_Wd	13.3,35368,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-59.2	D_GRID	450
GPS2	241214,013831,6541.137,-5642.667,5,1.3,5,-31.1

FINISH	1.6,1.025599	_10V_AH	13.72,0.000
SM_CCo	8692,79.95,0.158,0,0,1726,300.00	FG_AHR_24Vo	0.000
SM_GC	2.25,7.60,0.47,79.95,0.082,0.155,0.158,211,2646,1726,-10.64,-0.54,300.00,0,0,0,0,0,0,14.78,14.72,14.64	FG_AHR_10Vo	0.000
RAFOS_CLK	364	MEM	272244
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	20042,579
IRIDIUM_FIX	6512.01,-5638.87,241214,013304	CAP_FILE_SIZE	94041,0
TT8_MAMPS	0.027713,0.027713	CFSIZE	260034560,246972416
HUMID	45.47	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.51818	INTR	0,9813.60,0x23769e,7,5
TCM_TEMP	13.80	SOUNDSPEED	1468.8
XPDR_PINGS	3	CURRENT	0.079,50.42,1
SC_FREEKB	7744320	GPS	241214,040635,6542.538,-5643.117,28,1.1,28,-31.1
_24V_AH	13.47,18.966

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	453	123.28	nil	0	0	0.00
Roll_motor	59	179	144.14	nil	0	0	0.00
VBD_pump_during_apogee	308	1227	5106.07	nil	0	0	0.00
VBD_pump_during_surface	79	158	170.54	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	8678	7	856.24
Iridium_during_xfer	270	151	552.31	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	2.81
TT8	1352	11	212.79
LPSleep	6041	2	191.49
TT8_Active	551	11	86.76
TT8_Sampling	1201	30	509.90
TT8_CF8	96	36	47.80
TT8_Kalman	0	0	0.00
Analog_circuits	1291	11	194.86
GPS_charging	0	0	0.00
Compass	866	6	71.32
RAFOS	360	1	7.41
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	207	2650	1716	1718	0.0	0.0	0	113	0.00	0.00	-92.35	0.000	16386	0.000	0.000	206	2651	3409	3384	3434	0	0	0	0	0	0	28.83	28.83	28.83
115	-1.60	-146.0	207	2651	3386	3434	3.3	-2.1	9	138	9.80	2.33	-4.18	0.000	18692	0.454	0.180	2190	3832	3549	3544	3554	0	0	0	0	0	0	14.38	14.49	14.73
281	-1.56	-146.0	2190	3832	3547	3554	25.1	-13.0	41	287	0.00	2.03	0.00	0.000	1030	0.000	0.063	2190	2634	3551	3548	3554	0	0	0	0	0	0	28.83	14.62	28.83
604	-1.53	-146.0	2190	2634	3548	3554	62.6	-11.3	60	610	0.12	2.40	0.00	0.000	2564	0.316	0.101	2220	1256	3551	3548	3554	0	0	0	0	0	0	14.52	14.62	28.83
651	-1.53	-146.0	2220	1256	3548	3554	67.7	-10.3	69	657	0.00	2.55	0.00	0.000	1030	0.000	0.129	2214	2656	3551	3548	3554	0	0	0	0	0	0	28.83	14.62	28.83
969	-1.53	-146.0	2215	2656	3548	3554	99.3	-10.0	87	975	0.00	2.47	0.00	0.000	516	0.000	0.105	2214	1246	3551	3548	3554	0	0	0	0	0	0	28.83	14.66	28.83
1052	-1.53	-146.0	2215	1246	3548	3554	107.5	-9.7	103	1058	0.00	2.55	0.00	0.000	1030	0.000	0.131	2206	2651	3551	3548	3554	0	0	0	0	0	0	28.83	14.64	28.83
1376	-1.53	-146.0	2207	2651	3548	3553	137.4	-8.6	122	1381	0.00	2.45	0.00	0.000	516	0.000	0.110	2206	1253	3550	3548	3552	0	0	0	0	0	0	28.83	14.68	28.83
1422	-1.53	-146.0	2207	1253	3548	3552	141.9	-9.1	131	1427	0.00	2.55	0.00	0.000	1030	0.000	0.135	2200	2652	3550	3548	3552	0	0	0	0	0	0	28.83	14.66	28.83
1740	-1.53	-146.0	2200	2652	3548	3550	167.6	-7.4	149	1741	0.00	0.00	0.00	0.000	6	0.000	0.000	2200	2652	3549	3548	3550	0	0	0	0	0	0	28.83	28.83	28.83
2040	-1.53	-146.0	2200	2652	3548	3550	189.8	-7.3	164	2046	0.00	2.45	0.00	0.000	516	0.000	0.112	2200	1255	3548	3548	3549	0	0	0	0	0	0	28.83	14.71	28.83
2149	-1.53	-146.0	2200	1254	3548	3549	198.4	-8.1	185	2155	0.10	2.55	0.00	0.000	3078	0.334	0.137	2212	2650	3551	3554	3549	0	0	0	0	0	0	14.62	14.70	28.83
2468	-1.56	-146.0	2212	2650	3548	3549	221.8	-8.0	203	2469	0.00	0.00	0.00	0.000	6	0.000	0.000	2212	2651	3548	3547	3549	0	0	0	0	0	0	28.83	28.83	28.83
2769	-1.58	-146.0	2212	2651	3548	3549	246.0	-8.3	218	2774	0.00	2.45	0.00	0.000	516	0.000	0.109	2213	1247	3549	3549	3549	0	0	0	0	0	0	28.83	14.73	28.83
2893	-1.61	-146.0	2212	1246	3548	3549	257.2	-9.5	242	2899	0.00	2.55	0.00	0.000	1030	0.000	0.137	2206	2650	3548	3548	3549	0	0	0	0	0	0	28.83	14.73	28.83
3227	-1.63	-146.0	2206	2650	3548	3549	291.8	-10.7	258	3233	0.00	2.45	0.00	0.000	516	0.000	0.110	2206	1248	3548	3547	3549	0	0	0	0	0	0	28.83	14.74	28.83
3300	-1.63	-146.0	2206	1248	3548	3550	300.1	-11.5	272	3306	0.00	2.55	0.00	0.000	1030	0.000	0.138	2199	2651	3549	3548	3550	0	0	0	0	0	0	28.83	14.73	28.83
3624	-1.63	-146.0	2199	2650	3549	3550	335.6	-10.8	286	3625	0.00	0.00	0.00	0.000	6	0.000	0.000	2199	2655	3549	3549	3550	0	0	0	0	0	0	28.83	28.83	28.83
3923	-1.63	-146.0	2199	2651	3551	3550	365.2	-9.6	296	3929	0.00	2.45	0.00	0.000	516	0.000	0.112	2199	1246	3548	3551	3545	0	0	0	0	0	0	28.83	14.76	28.83
4106	-1.63	-146.0	2199	1246	3551	3550	383.0	-9.0	332	4111	0.00	2.55	0.00	0.000	1030	0.000	0.141	2193	2649	3551	3551	3551	0	0	0	0	0	0	28.83	14.75	28.83
4440	-1.63	-146.0	2193	2650	3551	3550	412.0	-8.6	348	4445	0.00	2.45	0.00	0.000	516	0.000	0.114	2192	1249	3550	3551	3550	0	0	0	0	0	0	28.83	14.76	28.83
4542	-1.63	-146.0	2193	1250	3551	3550	420.9	-8.6	368	4547	0.00	2.55	0.00	0.000	1030	0.000	0.142	2187	2651	3551	3551	3551	0	0	0	0	0	0	28.83	14.74	28.83
4866	-1.63	-146.0	2187	2656	3551	3551	447.5	-8.2	382	4871	0.00	2.45	0.00	0.000	516	0.000	0.115	2189	1250	3551	3551	3551	0	0	0	0	0	0	28.83	14.76	28.83
4897	end dive: TARGET_DEPTH_EXCEEDED
state	4897	begin apogee
4903	-0.38	0.0	2182	2402	3551	3551	450.4	-8.3	388	5061	1.00	0.00	153.62	1.227	10246	0.252	0.000	2462	2402	2950	2970	2930	0	0	0	0	0	0	14.67	28.83	13.61
5062	end apogee: CONTROL_FINISHED_OK
state	5062	begin climb
5064	1.60	146.0	2462	2402	2962	2922	452.9	0.0	393	5230	1.42	0.00	155.30	1.164	10246	0.155	0.000	2899	2401	2343	2389	2297	0	0	0	0	0	0	14.04	28.83	13.47
5529	1.60	146.0	2898	2402	2378	2286	398.8	12.7	409	5530	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2401	2332	2378	2286	0	0	0	0	0	0	28.83	28.83	28.83
5829	1.60	146.0	2899	2402	2377	2284	360.3	13.1	419	5830	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2402	2330	2377	2284	0	0	0	0	0	0	28.83	28.83	28.83
6128	1.60	146.0	2899	2402	2375	2284	318.9	14.1	429	6130	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2401	2330	2376	2284	0	0	0	0	0	0	28.83	28.83	28.83
6429	1.60	146.0	2899	2401	2375	2284	277.5	13.7	439	6430	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2401	2329	2376	2283	0	0	0	0	0	0	28.83	28.83	28.83
6739	1.60	146.0	2895	2402	2376	2283	234.6	13.7	451	6740	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2402	2329	2376	2282	0	0	0	0	0	0	28.83	28.83	28.83
7040	1.60	146.0	2899	2401	2376	2282	193.6	13.9	466	7046	0.00	2.65	0.00	0.000	260	0.000	0.151	2898	3809	2329	2376	2283	0	0	0	0	0	0	28.83	14.66	28.83
7083	1.55	146.0	2899	3809	2373	2285	186.8	15.7	474	7090	0.00	2.42	0.00	0.000	1030	0.000	0.085	2908	2412	2329	2373	2285	0	0	0	0	0	0	28.83	14.71	28.83
7406	1.55	146.0	2908	2412	2373	2285	143.5	12.5	493	7407	0.00	0.00	0.00	0.000	6	0.000	0.000	2908	2412	2329	2373	2285	0	0	0	0	0	0	28.83	28.83	28.83
7707	1.55	146.0	2908	2412	2373	2285	107.6	11.4	508	7708	0.00	0.00	0.00	0.000	6	0.000	0.000	2908	2412	2329	2373	2285	0	0	0	0	0	0	28.83	28.83	28.83
8008	1.55	146.0	2908	2412	2373	2287	74.4	11.0	523	8009	0.00	0.00	0.00	0.000	6	0.000	0.000	2908	2411	2329	2373	2286	0	0	0	0	0	0	28.83	28.83	28.83
8307	1.55	146.0	2908	2412	2373	2287	40.2	11.9	538	8313	0.00	2.53	0.00	0.000	516	0.000	0.123	2919	982	2330	2373	2288	0	0	0	0	0	0	28.83	14.72	28.83
8371	1.55	146.0	2918	982	2375	2288	32.4	12.2	550	8377	0.12	2.53	0.00	0.000	5126	0.313	0.125	2891	2400	2330	2373	2288	0	0	0	0	0	0	14.66	14.73	28.83
8653	end climb: SURFACE_DEPTH_REACHED
state	8653	begin surface coast
8675	end surface coast: CONTROL_FINISHED_OK
state	8675	begin surface