Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 197 * 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 197 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 24 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 601.23029 R_STBD_OVSHOOT 12 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 -2 T_RSLEEP 2 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 2 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 300 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE 32

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 350 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 225 AH0_10V 0 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3900 MINV_24V 12 SIM_PITCH 0

MAX_BUOY 150 C_PITCH 2550 MINV_10V 12 SEABIRD_T_G 0.0042903274

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00062837056

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 FG_AHR_24V 0 SEABIRD_T_I 2.3004332e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_T_J 2.3253908e-06

RHO 1.0275 P_OVSHOOT_WITHG 0 PRESSURE_YINT -50.214073 SEABIRD_C_G -9.879467

MASS 52059 PITCH_GAIN 13 PRESSURE_SLOPE 0.0001163556 SEABIRD_C_H 1.1201456

MASS_COMP 0 PITCH_TIMEOUT 15 AD7714Ch0Gain 128 SEABIRD_C_I -0.00035123606

NAV_MODE 0 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00012622437

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4 SC_PROFILE 3.0

HD_A 0.0043000001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 300 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SEABIRD_T_J 2.3253908e-06

AH0_10V 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 SIM_PITCH 0

AH0_24V 350 D_SURF 3 PITCH_AD_RATE 175 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_CNV 0.0046000001 SM_CC 601.23029

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 13 STROBE 0

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_MAX 3900 SURFACE_URGENCY 10

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PULSE 5 FG_AHR_24V 0 PITCH_MIN 225 SURFACE_URGENCY_TRY 5

ALTIM_SENSITIVITY 1 FILEMGR 2 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2.8 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 6000

APOGEE_PITCH -5 HD_A 0.0043000001 PRESSURE_SLOPE 0.0001163556 TGT_DEFAULT_LON -5500

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -50.214073 T_ABORT 1440

CALL_TRIES 3 HD_C 6.0000002e-06 PROTOCOL 9 T_BOOST 5

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 330

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0 T_EPIRB 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_GPS 3

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.1 RAFOS_DEVICE 32 T_GPS_ALMANAC 0

COMM_SEQ 0 ID 193 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_MISSION 400

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0.93000001 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RHO 1.0275 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2550 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 ROLL_AD_RATE 300 T_WATCHDOG 10

C_ROLL_DIVE 2550 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2951 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX 3

DBDW 0 MASS 52059 ROLL_MAX 3841 USE_BATHY -2

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 24 VBD_DBAND 2

DEVICE4 -1 MISSION 4 R_STBD_OVSHOOT 12 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 197 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 110115,121912,6645.999,-6025.595,0,2079.0,0,-32.5 SPEED_LIMITS 0.173,0.262

_CALLS 3 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 10.59 MHEAD_RNG_PITCHd_Wd 111.2,160259,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -3.6 D_GRID 515

GPS2 110115,121912,6645.999,-6025.595,0,2079.0,0,-32.5

Post-dive calculations and measurements:

FREEZE 2.76,-1.777,-1.735,2,45,1 SC_FREEKB 7706880

FINISH 2.8,1.025484 _24V_AH 13.22,47.396

RAFOS_CLK 471 _10V_AH 13.37,0.000

RAFOS 5,1420980068,12.700000,12.685555,57,55,54,51,50,50,121,190,213,131,140,158 FG_AHR_24Vo 0.000

RAFOS_FIX 6645.998535,-6025.594727,110115,121212,2,79,1.02 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6625.71,-5708.95,030115,111203 MEM 271116

TT8_MAMPS 0.025466,0.025466 DATA_FILE_SIZE 23432,679

HUMID 48.66 CAP_FILE_SIZE 105363,0

INTERNAL_PRESSURE 8.38146 CFSIZE 260034560,238551040

TCM_TEMP 11.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 3 SOUNDSPEED 1449.6

ALTIM_TOP_PING 19.7,17.6 GPS 110115,121912,6645.999,-6025.595,0,2079.0,0,-32.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 345 20.68 nil 0 0 0.00

Roll_motor 92 162 198.64 nil 0 0 0.00

VBD_pump_during_apogee 517 1611 11023.10 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9652 6 879.16

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 5.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1367 11 209.78

LPSleep 6762 2 208.87

TT8_Active 548 11 84.04

TT8_Sampling 1074 30 444.51

TT8_CF8 114 36 55.41

TT8_Kalman 0 0 0.00

Analog_circuits 1165 11 171.45

GPS_charging 0 0 0.00

Compass 1008 6 80.91

RAFOS 360 1 7.22

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 2577 2542 2574 2536 0.0 0.0 0 33 0.00 0.00 -12.10 0.000 16386 0.000 0.000 2577 2542 3039 3037 3041 0 0 0 0 0 0 28.83 28.83 28.83

35 -1.60 -146.0 2577 2542 3038 3042 11.7 0.0 1 56 1.20 2.45 -11.90 0.000 20740 0.181 0.162 2195 3839 3554 3541 3567 0 0 0 0 0 0 14.52 14.54 14.80

73 -1.54 -146.0 2195 3839 3542 3568 15.0 -10.6 8 79 0.00 2.20 0.00 0.000 1030 0.000 0.061 2196 2539 3555 3542 3568 0 0 0 0 0 0 28.83 14.59 28.83

380 -1.50 -146.0 2195 2539 3547 3568 65.2 -14.3 27 386 0.12 2.42 0.00 0.000 2564 0.329 0.101 2224 1145 3557 3547 3568 0 0 0 0 0 0 14.46 14.58 28.83

612 -1.50 -146.0 2224 1145 3548 3568 95.6 -13.1 73 618 0.00 2.55 0.00 0.000 1030 0.000 0.124 2217 2561 3558 3548 3568 0 0 0 0 0 0 28.83 14.57 28.83

925 -1.50 -146.0 2217 2561 3548 3568 137.8 -13.2 90 926 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 2561 3558 3548 3568 0 0 0 0 0 0 28.83 28.83 28.83

1227 -1.50 -146.0 2217 2561 3548 3566 177.3 -13.3 105 1232 0.00 2.40 0.00 0.000 260 0.000 0.150 2207 3836 3557 3548 3566 0 0 0 0 0 0 28.83 14.57 28.83

1389 -1.50 -146.0 2207 3836 3548 3565 197.0 -11.1 137 1395 0.00 2.17 0.00 0.000 1030 0.000 0.063 2207 2549 3557 3548 3566 0 0 0 0 0 0 28.83 14.68 28.83

1712 -1.50 -146.0 2207 2548 3548 3565 228.3 -9.0 156 1713 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2548 3556 3548 3565 0 0 0 0 0 0 28.83 28.83 28.83

2034 -1.50 -146.0 2207 2548 3548 3565 255.9 -8.9 171 2039 0.00 2.40 0.00 0.000 516 0.000 0.103 2207 1149 3556 3548 3564 0 0 0 0 0 0 28.83 14.65 28.83

2061 -1.50 -146.0 2207 1149 3548 3564 258.7 -9.7 176 2068 0.10 2.50 0.00 0.000 3078 0.346 0.119 2219 2553 3555 3547 3564 0 0 0 0 0 0 14.54 14.64 28.83

2368 -1.53 -146.0 2219 2552 3547 3564 289.1 -10.1 187 2374 0.00 2.40 0.00 0.000 260 0.000 0.145 2210 3842 3555 3547 3564 0 0 0 0 0 0 28.83 14.61 28.83

2475 -1.53 -146.0 2211 3843 3547 3565 300.7 -10.6 208 2480 0.00 2.17 0.00 0.000 1030 0.000 0.062 2210 2552 3555 3547 3563 0 0 0 0 0 0 28.83 14.71 28.83

2795 -1.55 -146.0 2210 2551 3547 3563 331.4 -9.6 221 2800 0.00 2.42 0.00 0.000 516 0.000 0.105 2210 1142 3554 3546 3563 0 0 0 0 0 0 28.83 14.66 28.83

2851 -1.55 -146.0 2210 1142 3548 3563 337.5 -10.2 232 2858 0.00 2.53 0.00 0.000 1030 0.000 0.122 2204 2554 3555 3548 3563 0 0 0 0 0 0 28.83 14.65 28.83

3158 -1.55 -146.0 2204 2554 3548 3563 367.9 -9.6 243 3163 0.00 2.45 0.00 0.000 516 0.000 0.112 2204 1148 3555 3548 3563 0 0 0 0 0 0 28.83 14.66 28.83

3215 -1.55 -146.0 2204 1148 3548 3563 373.6 -10.1 254 3222 0.00 2.50 0.00 0.000 1030 0.000 0.123 2198 2549 3555 3548 3562 0 0 0 0 0 0 28.83 14.66 28.83

3521 -1.55 -146.0 2198 2549 3548 3563 403.4 -9.8 265 3522 0.00 0.00 0.00 0.000 6 0.000 0.000 2198 2549 3555 3548 3563 0 0 0 0 0 0 28.83 28.83 28.83

3821 -1.55 -146.0 2198 2549 3548 3563 432.9 -9.8 275 3822 0.00 0.00 0.00 0.000 6 0.000 0.000 2198 2549 3554 3548 3560 0 0 0 0 0 0 28.83 28.83 28.83

4121 -1.55 -146.0 2198 2549 3549 3563 461.6 -9.5 285 4122 0.00 0.00 0.00 0.000 6 0.000 0.000 2198 2549 3556 3549 3563 0 0 0 0 0 0 28.83 28.83 28.83

4421 -1.55 -146.0 2198 2549 3550 3563 489.5 -9.4 295 4427 0.00 2.38 0.00 0.000 260 0.000 0.145 2188 3836 3555 3549 3562 0 0 0 0 0 0 28.83 14.66 28.83

4454 -1.55 -146.0 2188 3836 3550 3563 492.8 -10.1 301 4460 0.10 2.17 0.00 0.000 3078 0.307 0.061 2208 2538 3556 3550 3563 0 0 0 0 0 0 14.59 14.73 28.83

4727 end dive: TARGET_DEPTH_EXCEEDED

state 4727 begin apogee

4732 -0.38 0.0 2207 2398 3551 3563 516.3 -8.3 315 4922 0.93 0.00 186.27 1.323 10246 0.262 0.000 2462 2398 2951 2971 2931 0 0 0 0 0 0 14.59 28.83 13.43

4924 end apogee: CONTROL_FINISHED_OK

state 4924 begin climb

4926 1.60 146.0 2462 2398 2962 2921 520.2 0.0 321 5123 1.48 2.97 183.93 1.202 10500 0.168 0.153 2899 3808 2343 2388 2299 0 0 0 0 0 0 13.90 13.60 13.22

5140 1.55 146.0 2898 3808 2378 2292 500.5 12.9 362 5145 0.00 2.60 0.00 0.000 1030 0.000 0.082 2907 2412 2334 2377 2291 0 0 0 0 0 0 28.83 13.76 28.83

5455 1.52 146.0 2907 2412 2372 2281 460.2 13.0 374 5456 0.12 0.00 0.00 0.000 4102 0.295 0.000 2882 2409 2326 2372 2281 0 0 0 0 0 0 14.09 28.83 28.83

5753 1.52 146.0 2883 2412 2370 2280 423.2 12.5 384 5758 0.00 2.58 0.00 0.000 516 0.000 0.119 2891 987 2325 2370 2280 0 0 0 0 0 0 28.83 14.33 28.83

5786 1.52 146.0 2891 988 2370 2280 418.9 12.9 390 5791 0.00 2.60 0.00 0.000 1030 0.000 0.123 2891 2406 2325 2370 2280 0 0 0 0 0 0 28.83 14.35 28.83

6120 1.52 146.0 2891 2405 2370 2280 376.4 12.6 406 6121 0.00 0.00 0.00 0.000 6 0.000 0.000 2891 2405 2324 2370 2279 0 0 0 0 0 0 28.83 28.83 28.83

6418 1.52 146.0 2891 2405 2370 2279 340.6 11.8 416 6424 0.00 2.53 0.00 0.000 516 0.000 0.118 2900 990 2324 2370 2279 0 0 0 0 0 0 28.83 14.51 28.83

6481 1.52 146.0 2899 990 2370 2279 333.1 12.1 428 6487 0.00 2.55 0.00 0.000 1030 0.000 0.122 2899 2403 2324 2370 2278 0 0 0 0 0 0 28.83 14.52 28.83

6815 1.52 146.0 2900 2403 2370 2279 293.8 11.0 444 6820 0.00 2.67 0.00 0.000 260 0.000 0.150 2899 3812 2324 2370 2279 0 0 0 0 0 0 28.83 14.54 28.83

6848 1.47 146.0 2899 3812 2368 2279 290.0 11.8 450 6855 0.17 2.47 0.00 0.000 5126 0.289 0.080 2868 2390 2324 2370 2279 0 0 0 0 0 0 14.48 14.60 28.83

7182 1.55 213.4 2868 2390 2370 2275 264.3 6.9 466 7256 0.00 2.88 58.83 1.611 8452 0.000 0.151 2868 3809 2083 2125 2041 0 0 0 0 1 0 28.83 14.14 13.48

7289 1.57 230.4 2868 3809 2126 2047 256.3 9.2 487 7322 0.00 2.53 22.15 1.161 9222 0.000 0.080 2876 2398 2010 2057 1963 0 0 0 0 1 0 28.83 14.24 13.59

7625 1.61 230.4 2876 2398 2057 1974 224.4 10.1 510 7632 0.10 2.53 0.00 0.000 2564 0.172 0.111 2923 985 2015 2057 1973 0 0 0 0 0 0 14.44 14.38 28.83

7698 1.61 230.4 2924 986 2057 1973 215.4 13.1 524 7704 0.10 2.58 0.00 0.000 5126 0.306 0.121 2904 2400 2015 2057 1973 0 0 0 0 0 0 14.33 14.40 28.83

8012 1.64 230.4 2904 2400 2057 1972 175.0 13.4 541 8018 0.00 2.67 0.00 0.000 260 0.000 0.149 2904 3814 2014 2057 1972 0 0 0 0 0 0 28.83 14.47 28.83

8044 1.64 230.4 2904 3814 2057 1972 170.1 14.3 547 8050 0.00 2.47 0.00 0.000 1030 0.000 0.080 2913 2398 2014 2057 1972 0 0 0 0 0 0 28.83 14.52 28.83

8358 1.68 247.4 2913 2398 2062 1972 135.4 9.2 564 8391 0.00 2.72 20.77 1.074 8452 0.000 0.150 2913 3810 1941 1987 1895 0 0 0 0 1 0 28.83 14.41 13.89

8427 1.68 247.4 2913 3810 1987 1905 128.3 10.3 578 8433 0.00 2.47 0.00 0.000 1030 0.000 0.079 2920 2399 1946 1987 1905 0 0 0 0 0 0 28.83 14.47 28.83

8741 1.76 280.1 2920 2399 1986 1905 100.2 8.5 595 8785 0.00 2.58 31.30 1.197 8708 0.000 0.115 2929 997 1811 1854 1769 0 0 0 0 1 0 28.83 14.32 13.72

8863 1.84 301.1 2929 997 1855 1779 89.3 9.0 619 8883 0.00 2.58 14.30 0.400 9222 0.000 0.122 2929 2407 1721 1761 1682 0 0 0 0 0 0 28.83 14.36 14.16

9183 1.88 301.1 2929 2407 1765 1692 58.7 10.7 638 9185 0.10 0.00 0.00 0.000 2054 0.172 0.000 2969 2407 1728 1765 1692 0 0 0 0 0 0 14.52 28.83 28.83

9485 1.88 301.1 2969 2407 1765 1691 19.7 12.6 655 9490 0.00 2.53 0.00 0.000 516 0.000 0.120 2978 994 1728 1765 1691 0 0 0 0 0 0 28.83 14.51 28.83

9568 1.88 301.1 2978 994 1765 1691 8.6 12.9 671 9574 0.00 2.55 0.00 0.000 1030 0.000 0.122 2978 2405 1727 1764 1691 0 0 0 0 0 0 28.83 14.52 28.83

9620 end climb: SURFACE_DEPTH_REACHED

state 9620 begin surface coast

9643 end surface coast: CONTROL_FINISHED_OK

state 9643 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	197	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	24	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	601.23029	R_STBD_OVSHOOT	12	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	-2	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	110115,121912,6645.999,-6025.595,0,2079.0,0,-32.5	SPEED_LIMITS	0.173,0.262
_CALLS	3	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	10.59	MHEAD_RNG_PITCHd_Wd	111.2,160259,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-3.6	D_GRID	515
GPS2	110115,121912,6645.999,-6025.595,0,2079.0,0,-32.5

FREEZE	2.76,-1.777,-1.735,2,45,1	SC_FREEKB	7706880
FINISH	2.8,1.025484	_24V_AH	13.22,47.396
RAFOS_CLK	471	_10V_AH	13.37,0.000
RAFOS	5,1420980068,12.700000,12.685555,57,55,54,51,50,50,121,190,213,131,140,158	FG_AHR_24Vo	0.000
RAFOS_FIX	6645.998535,-6025.594727,110115,121212,2,79,1.02	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6625.71,-5708.95,030115,111203	MEM	271116
TT8_MAMPS	0.025466,0.025466	DATA_FILE_SIZE	23432,679
HUMID	48.66	CAP_FILE_SIZE	105363,0
INTERNAL_PRESSURE	8.38146	CFSIZE	260034560,238551040
TCM_TEMP	11.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	3	SOUNDSPEED	1449.6
ALTIM_TOP_PING	19.7,17.6	GPS	110115,121912,6645.999,-6025.595,0,2079.0,0,-32.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	345	20.68	nil	0	0	0.00
Roll_motor	92	162	198.64	nil	0	0	0.00
VBD_pump_during_apogee	517	1611	11023.10	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9652	6	879.16
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	5.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1367	11	209.78
LPSleep	6762	2	208.87
TT8_Active	548	11	84.04
TT8_Sampling	1074	30	444.51
TT8_CF8	114	36	55.41
TT8_Kalman	0	0	0.00
Analog_circuits	1165	11	171.45
GPS_charging	0	0	0.00
Compass	1008	6	80.91
RAFOS	360	1	7.22
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	2577	2542	2574	2536	0.0	0.0	0	33	0.00	0.00	-12.10	0.000	16386	0.000	0.000	2577	2542	3039	3037	3041	0	0	0	0	0	0	28.83	28.83	28.83
35	-1.60	-146.0	2577	2542	3038	3042	11.7	0.0	1	56	1.20	2.45	-11.90	0.000	20740	0.181	0.162	2195	3839	3554	3541	3567	0	0	0	0	0	0	14.52	14.54	14.80
73	-1.54	-146.0	2195	3839	3542	3568	15.0	-10.6	8	79	0.00	2.20	0.00	0.000	1030	0.000	0.061	2196	2539	3555	3542	3568	0	0	0	0	0	0	28.83	14.59	28.83
380	-1.50	-146.0	2195	2539	3547	3568	65.2	-14.3	27	386	0.12	2.42	0.00	0.000	2564	0.329	0.101	2224	1145	3557	3547	3568	0	0	0	0	0	0	14.46	14.58	28.83
612	-1.50	-146.0	2224	1145	3548	3568	95.6	-13.1	73	618	0.00	2.55	0.00	0.000	1030	0.000	0.124	2217	2561	3558	3548	3568	0	0	0	0	0	0	28.83	14.57	28.83
925	-1.50	-146.0	2217	2561	3548	3568	137.8	-13.2	90	926	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	2561	3558	3548	3568	0	0	0	0	0	0	28.83	28.83	28.83
1227	-1.50	-146.0	2217	2561	3548	3566	177.3	-13.3	105	1232	0.00	2.40	0.00	0.000	260	0.000	0.150	2207	3836	3557	3548	3566	0	0	0	0	0	0	28.83	14.57	28.83
1389	-1.50	-146.0	2207	3836	3548	3565	197.0	-11.1	137	1395	0.00	2.17	0.00	0.000	1030	0.000	0.063	2207	2549	3557	3548	3566	0	0	0	0	0	0	28.83	14.68	28.83
1712	-1.50	-146.0	2207	2548	3548	3565	228.3	-9.0	156	1713	0.00	0.00	0.00	0.000	6	0.000	0.000	2207	2548	3556	3548	3565	0	0	0	0	0	0	28.83	28.83	28.83
2034	-1.50	-146.0	2207	2548	3548	3565	255.9	-8.9	171	2039	0.00	2.40	0.00	0.000	516	0.000	0.103	2207	1149	3556	3548	3564	0	0	0	0	0	0	28.83	14.65	28.83
2061	-1.50	-146.0	2207	1149	3548	3564	258.7	-9.7	176	2068	0.10	2.50	0.00	0.000	3078	0.346	0.119	2219	2553	3555	3547	3564	0	0	0	0	0	0	14.54	14.64	28.83
2368	-1.53	-146.0	2219	2552	3547	3564	289.1	-10.1	187	2374	0.00	2.40	0.00	0.000	260	0.000	0.145	2210	3842	3555	3547	3564	0	0	0	0	0	0	28.83	14.61	28.83
2475	-1.53	-146.0	2211	3843	3547	3565	300.7	-10.6	208	2480	0.00	2.17	0.00	0.000	1030	0.000	0.062	2210	2552	3555	3547	3563	0	0	0	0	0	0	28.83	14.71	28.83
2795	-1.55	-146.0	2210	2551	3547	3563	331.4	-9.6	221	2800	0.00	2.42	0.00	0.000	516	0.000	0.105	2210	1142	3554	3546	3563	0	0	0	0	0	0	28.83	14.66	28.83
2851	-1.55	-146.0	2210	1142	3548	3563	337.5	-10.2	232	2858	0.00	2.53	0.00	0.000	1030	0.000	0.122	2204	2554	3555	3548	3563	0	0	0	0	0	0	28.83	14.65	28.83
3158	-1.55	-146.0	2204	2554	3548	3563	367.9	-9.6	243	3163	0.00	2.45	0.00	0.000	516	0.000	0.112	2204	1148	3555	3548	3563	0	0	0	0	0	0	28.83	14.66	28.83
3215	-1.55	-146.0	2204	1148	3548	3563	373.6	-10.1	254	3222	0.00	2.50	0.00	0.000	1030	0.000	0.123	2198	2549	3555	3548	3562	0	0	0	0	0	0	28.83	14.66	28.83
3521	-1.55	-146.0	2198	2549	3548	3563	403.4	-9.8	265	3522	0.00	0.00	0.00	0.000	6	0.000	0.000	2198	2549	3555	3548	3563	0	0	0	0	0	0	28.83	28.83	28.83
3821	-1.55	-146.0	2198	2549	3548	3563	432.9	-9.8	275	3822	0.00	0.00	0.00	0.000	6	0.000	0.000	2198	2549	3554	3548	3560	0	0	0	0	0	0	28.83	28.83	28.83
4121	-1.55	-146.0	2198	2549	3549	3563	461.6	-9.5	285	4122	0.00	0.00	0.00	0.000	6	0.000	0.000	2198	2549	3556	3549	3563	0	0	0	0	0	0	28.83	28.83	28.83
4421	-1.55	-146.0	2198	2549	3550	3563	489.5	-9.4	295	4427	0.00	2.38	0.00	0.000	260	0.000	0.145	2188	3836	3555	3549	3562	0	0	0	0	0	0	28.83	14.66	28.83
4454	-1.55	-146.0	2188	3836	3550	3563	492.8	-10.1	301	4460	0.10	2.17	0.00	0.000	3078	0.307	0.061	2208	2538	3556	3550	3563	0	0	0	0	0	0	14.59	14.73	28.83
4727	end dive: TARGET_DEPTH_EXCEEDED
state	4727	begin apogee
4732	-0.38	0.0	2207	2398	3551	3563	516.3	-8.3	315	4922	0.93	0.00	186.27	1.323	10246	0.262	0.000	2462	2398	2951	2971	2931	0	0	0	0	0	0	14.59	28.83	13.43
4924	end apogee: CONTROL_FINISHED_OK
state	4924	begin climb
4926	1.60	146.0	2462	2398	2962	2921	520.2	0.0	321	5123	1.48	2.97	183.93	1.202	10500	0.168	0.153	2899	3808	2343	2388	2299	0	0	0	0	0	0	13.90	13.60	13.22
5140	1.55	146.0	2898	3808	2378	2292	500.5	12.9	362	5145	0.00	2.60	0.00	0.000	1030	0.000	0.082	2907	2412	2334	2377	2291	0	0	0	0	0	0	28.83	13.76	28.83
5455	1.52	146.0	2907	2412	2372	2281	460.2	13.0	374	5456	0.12	0.00	0.00	0.000	4102	0.295	0.000	2882	2409	2326	2372	2281	0	0	0	0	0	0	14.09	28.83	28.83
5753	1.52	146.0	2883	2412	2370	2280	423.2	12.5	384	5758	0.00	2.58	0.00	0.000	516	0.000	0.119	2891	987	2325	2370	2280	0	0	0	0	0	0	28.83	14.33	28.83
5786	1.52	146.0	2891	988	2370	2280	418.9	12.9	390	5791	0.00	2.60	0.00	0.000	1030	0.000	0.123	2891	2406	2325	2370	2280	0	0	0	0	0	0	28.83	14.35	28.83
6120	1.52	146.0	2891	2405	2370	2280	376.4	12.6	406	6121	0.00	0.00	0.00	0.000	6	0.000	0.000	2891	2405	2324	2370	2279	0	0	0	0	0	0	28.83	28.83	28.83
6418	1.52	146.0	2891	2405	2370	2279	340.6	11.8	416	6424	0.00	2.53	0.00	0.000	516	0.000	0.118	2900	990	2324	2370	2279	0	0	0	0	0	0	28.83	14.51	28.83
6481	1.52	146.0	2899	990	2370	2279	333.1	12.1	428	6487	0.00	2.55	0.00	0.000	1030	0.000	0.122	2899	2403	2324	2370	2278	0	0	0	0	0	0	28.83	14.52	28.83
6815	1.52	146.0	2900	2403	2370	2279	293.8	11.0	444	6820	0.00	2.67	0.00	0.000	260	0.000	0.150	2899	3812	2324	2370	2279	0	0	0	0	0	0	28.83	14.54	28.83
6848	1.47	146.0	2899	3812	2368	2279	290.0	11.8	450	6855	0.17	2.47	0.00	0.000	5126	0.289	0.080	2868	2390	2324	2370	2279	0	0	0	0	0	0	14.48	14.60	28.83
7182	1.55	213.4	2868	2390	2370	2275	264.3	6.9	466	7256	0.00	2.88	58.83	1.611	8452	0.000	0.151	2868	3809	2083	2125	2041	0	0	0	0	1	0	28.83	14.14	13.48
7289	1.57	230.4	2868	3809	2126	2047	256.3	9.2	487	7322	0.00	2.53	22.15	1.161	9222	0.000	0.080	2876	2398	2010	2057	1963	0	0	0	0	1	0	28.83	14.24	13.59
7625	1.61	230.4	2876	2398	2057	1974	224.4	10.1	510	7632	0.10	2.53	0.00	0.000	2564	0.172	0.111	2923	985	2015	2057	1973	0	0	0	0	0	0	14.44	14.38	28.83
7698	1.61	230.4	2924	986	2057	1973	215.4	13.1	524	7704	0.10	2.58	0.00	0.000	5126	0.306	0.121	2904	2400	2015	2057	1973	0	0	0	0	0	0	14.33	14.40	28.83
8012	1.64	230.4	2904	2400	2057	1972	175.0	13.4	541	8018	0.00	2.67	0.00	0.000	260	0.000	0.149	2904	3814	2014	2057	1972	0	0	0	0	0	0	28.83	14.47	28.83
8044	1.64	230.4	2904	3814	2057	1972	170.1	14.3	547	8050	0.00	2.47	0.00	0.000	1030	0.000	0.080	2913	2398	2014	2057	1972	0	0	0	0	0	0	28.83	14.52	28.83
8358	1.68	247.4	2913	2398	2062	1972	135.4	9.2	564	8391	0.00	2.72	20.77	1.074	8452	0.000	0.150	2913	3810	1941	1987	1895	0	0	0	0	1	0	28.83	14.41	13.89
8427	1.68	247.4	2913	3810	1987	1905	128.3	10.3	578	8433	0.00	2.47	0.00	0.000	1030	0.000	0.079	2920	2399	1946	1987	1905	0	0	0	0	0	0	28.83	14.47	28.83
8741	1.76	280.1	2920	2399	1986	1905	100.2	8.5	595	8785	0.00	2.58	31.30	1.197	8708	0.000	0.115	2929	997	1811	1854	1769	0	0	0	0	1	0	28.83	14.32	13.72
8863	1.84	301.1	2929	997	1855	1779	89.3	9.0	619	8883	0.00	2.58	14.30	0.400	9222	0.000	0.122	2929	2407	1721	1761	1682	0	0	0	0	0	0	28.83	14.36	14.16
9183	1.88	301.1	2929	2407	1765	1692	58.7	10.7	638	9185	0.10	0.00	0.00	0.000	2054	0.172	0.000	2969	2407	1728	1765	1692	0	0	0	0	0	0	14.52	28.83	28.83
9485	1.88	301.1	2969	2407	1765	1691	19.7	12.6	655	9490	0.00	2.53	0.00	0.000	516	0.000	0.120	2978	994	1728	1765	1691	0	0	0	0	0	0	28.83	14.51	28.83
9568	1.88	301.1	2978	994	1765	1691	8.6	12.9	671	9574	0.00	2.55	0.00	0.000	1030	0.000	0.122	2978	2405	1727	1764	1691	0	0	0	0	0	0	28.83	14.52	28.83
9620	end climb: SURFACE_DEPTH_REACHED
state	9620	begin surface coast
9643	end surface coast: CONTROL_FINISHED_OK
state	9643	begin surface