Glider dive log

DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 340 * 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 340 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 23 ALTIM_SENSITIVITY 1

D_NO_BLEED 50 SM_CC 601.23029 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 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 -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 23 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 340 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 040215,124656,6653.581,-5743.374,181,99.0,181,-32.6 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 3.66 MHEAD_RNG_PITCHd_Wd 99.0,43627,-18.4,-10.000,-20.87,2243

_SM_ANGLEo -1.4 D_GRID 731

GPS2 040215,124656,6653.581,-5743.374,181,99.0,181,-32.6

Post-dive calculations and measurements:

FREEZE 2.25,-1.669,-1.805,2,75,1 SC_FREEKB 7661280

FINISH 2.2,1.026486 _24V_AH 13.41,86.066

RAFOS_CLK 410 _10V_AH 13.06,0.000

RAFOS 0,1423166473,20.033333,20.020277,60,59,57,56,54,52,214,165,185,136,239,197 FG_AHR_24Vo 0.000

RAFOS_FIX 6653.580566,-5743.373535,040215,121256,2,103,0.28 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6625.71,-5725.81,220115,144240 MEM 271024

TT8_MAMPS 0.025466,0.025466 DATA_FILE_SIZE 23378,648

HUMID 47.75 CAP_FILE_SIZE 104015,0

INTERNAL_PRESSURE 8.51818 CFSIZE 260034560,227442688

TCM_TEMP 12.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 1 SOUNDSPEED 1466.3

ALTIM_TOP_PING 19.8,17.3 GPS 040215,124656,6653.581,-5743.374,181,99.0,181,-32.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 328 20.13 nil 0 0 0.00

Roll_motor 89 141 169.10 nil 0 0 0.00

VBD_pump_during_apogee 343 1298 5980.44 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 9285 7 886.28

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1363 11 204.18

LPSleep 6529 2 196.99

TT8_Active 404 11 60.65

TT8_Sampling 1042 30 421.18

TT8_CF8 163 36 77.47

TT8_Kalman 0 0 0.00

Analog_circuits 970 11 139.46

GPS_charging 0 0 0.00

Compass 967 6 75.85

RAFOS 2520 1 49.37

Transponder 4 30 1.76

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -1.60 -146.0 2565 2551 2773 2746 0.0 0.0 0 63 0.00 0.00 -41.47 0.000 16386 0.000 0.000 2565 2551 3544 3537 3552 0 0 0 0 0 0 28.83 28.83 28.83

67 -1.60 -146.0 2565 2551 3539 3552 3.1 -1.9 4 73 1.10 2.47 0.00 0.000 4612 0.128 0.089 2201 1133 3546 3540 3552 0 0 0 0 0 0 14.49 14.51 28.83

96 -1.66 -146.0 2207 1132 3539 3553 5.5 -7.9 9 102 0.00 2.58 0.00 0.000 1030 0.000 0.108 2193 2558 3546 3539 3553 0 0 0 0 0 0 28.83 14.51 28.83

412 -1.63 -146.0 2194 2558 3540 3554 43.7 -12.4 34 413 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2558 3546 3538 3554 0 0 0 0 0 0 28.83 28.83 28.83

713 -1.60 -146.0 2193 2558 3540 3553 80.0 -11.7 49 718 0.00 2.47 0.00 0.000 516 0.000 0.092 2193 1139 3546 3540 3553 0 0 0 0 0 0 28.83 14.52 28.83

818 -1.58 -146.0 2193 1139 3540 3553 92.8 -11.6 69 824 0.00 2.58 0.00 0.000 1030 0.000 0.113 2185 2550 3546 3540 3552 0 0 0 0 0 0 28.83 14.51 28.83

1142 -1.55 -146.0 2186 2551 3540 3549 129.1 -10.7 88 1144 0.12 0.00 0.00 0.000 2054 0.325 0.000 2212 2551 3544 3540 3549 0 0 0 0 0 0 14.31 28.83 28.83

1442 -1.55 -146.0 2211 2550 3540 3546 158.6 -9.5 103 1447 0.00 2.45 0.00 0.000 260 0.000 0.138 2202 3839 3543 3540 3546 0 0 0 0 0 0 28.83 14.45 28.83

1468 -1.55 -146.0 2202 3839 3540 3546 161.5 -10.6 108 1474 0.00 2.20 0.00 0.000 1030 0.000 0.062 2198 2551 3543 3540 3546 0 0 0 0 0 0 28.83 14.60 28.83

1787 -1.55 -146.0 2202 2551 3539 3544 194.1 -10.3 126 1793 0.00 2.45 0.00 0.000 516 0.000 0.095 2202 1141 3541 3540 3543 0 0 0 0 0 0 28.83 14.48 28.83

1839 -1.55 -146.0 2202 1138 3540 3543 199.6 -10.3 136 1845 0.00 2.55 0.00 0.000 1030 0.000 0.114 2194 2553 3541 3540 3542 0 0 0 0 0 0 28.83 14.50 28.83

2152 -1.55 -146.0 2194 2552 3540 3542 232.9 -10.7 153 2158 0.00 2.47 0.00 0.000 516 0.000 0.095 2194 1137 3541 3540 3542 0 0 0 0 0 0 28.83 14.52 28.83

2184 -1.55 -146.0 2194 1137 3540 3542 236.4 -10.9 159 2191 0.10 2.55 0.00 0.000 3078 0.328 0.113 2206 2556 3541 3540 3542 0 0 0 0 0 0 14.32 14.50 28.83

2519 -1.55 -146.0 2206 2552 3541 3542 267.2 -8.9 174 2524 0.00 2.47 0.00 0.000 516 0.000 0.097 2207 1138 3541 3540 3542 0 0 0 0 0 0 28.83 14.52 28.83

2552 -1.55 -146.0 2207 1138 3540 3542 270.3 -9.3 180 2558 0.00 2.55 0.00 0.000 1030 0.000 0.115 2199 2552 3541 3540 3542 0 0 0 0 0 0 28.83 14.51 28.83

2888 -1.55 -146.0 2197 2552 3540 3542 300.0 -8.7 196 2889 0.00 0.00 0.00 0.000 6 0.000 0.000 2199 2552 3541 3540 3542 0 0 0 0 0 0 28.83 28.83 28.83

3186 -1.55 -146.0 2198 2552 3540 3542 326.0 -8.7 206 3191 0.00 2.47 0.00 0.000 516 0.000 0.097 2199 1137 3541 3540 3542 0 0 0 0 0 0 28.83 14.53 28.83

3224 -1.55 -146.0 2199 1137 3540 3542 329.4 -8.8 213 3229 0.00 2.55 0.00 0.000 1030 0.000 0.115 2191 2558 3541 3540 3542 0 0 0 0 0 0 28.83 14.52 28.83

3552 -1.55 -146.0 2191 2552 3540 3543 357.8 -8.7 228 3553 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 2553 3541 3540 3542 0 0 0 0 0 0 28.83 28.83 28.83

3853 -1.55 -146.0 2191 2553 3540 3544 384.4 -8.9 238 3858 0.00 2.47 0.00 0.000 516 0.000 0.102 2191 1143 3541 3540 3543 0 0 0 0 0 0 28.83 14.54 28.83

3890 -1.55 -146.0 2191 1143 3540 3539 388.1 -10.0 245 3896 0.12 2.55 0.00 0.000 3078 0.301 0.118 2210 2542 3542 3540 3544 0 0 0 0 0 0 14.33 14.54 28.83

4220 -1.58 -146.0 2210 2542 3540 3545 416.3 -8.5 260 4221 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 2542 3542 3540 3545 0 0 0 0 0 0 28.83 28.83 28.83

4521 -1.60 -146.0 2210 2542 3540 3546 442.1 -8.5 270 4527 0.00 2.47 0.00 0.000 516 0.000 0.107 2210 1142 3543 3540 3546 0 0 0 0 0 0 28.83 14.52 28.83

4641 -1.62 -146.0 2210 1142 3540 3547 452.2 -8.7 293 4648 0.00 2.60 0.00 0.000 1030 0.000 0.120 2202 2558 3543 3540 3547 0 0 0 0 0 0 28.83 14.52 28.83

4947 -1.88 -146.0 2202 2558 3541 3547 462.6 -0.0 304 4953 0.17 2.53 0.00 0.000 4612 0.129 0.108 2131 1146 3544 3541 3547 0 0 0 0 0 0 14.58 14.48 28.83

5003 end dive: NO_VERTICAL_VELOCITY

state 5003 begin apogee

5011 -0.38 0.0 2130 2407 3541 3548 462.5 0.0 315 5172 1.08 0.00 156.95 1.299 10246 0.155 0.000 2466 2407 2951 2970 2932 0 0 0 0 0 0 14.49 28.83 13.57

5173 end apogee: CONTROL_FINISHED_OK

state 5173 begin climb

5176 1.60 146.0 2466 2407 2961 2922 462.4 0.0 320 5350 1.35 2.85 163.02 1.196 10500 0.140 0.141 2897 3807 2343 2389 2297 0 0 0 0 0 0 14.07 13.84 13.41

5580 1.55 146.0 2896 3807 2371 2288 414.9 14.2 404 5586 0.00 2.50 0.00 0.000 1030 0.000 0.074 2906 2405 2329 2371 2288 0 0 0 0 0 0 28.83 14.27 28.83

5916 1.53 146.0 2907 2405 2371 2285 371.7 13.1 420 5918 0.12 0.00 0.00 0.000 4102 0.285 0.000 2879 2405 2328 2371 2285 0 0 0 0 0 0 14.29 28.83 28.83

6214 1.53 146.0 2878 2404 2371 2284 335.8 11.9 430 6219 0.00 2.72 0.00 0.000 260 0.000 0.142 2878 3811 2327 2371 2283 0 0 0 0 0 0 28.83 14.43 28.83

6251 1.50 146.0 2879 3811 2371 2284 330.8 13.5 437 6257 0.00 2.47 0.00 0.000 1030 0.000 0.073 2888 2395 2327 2371 2283 0 0 0 0 0 0 28.83 14.53 28.83

6581 1.50 146.0 2889 2395 2371 2283 290.6 12.1 452 6583 0.00 0.00 0.00 0.000 6 0.000 0.000 2888 2395 2327 2371 2283 0 0 0 0 0 0 28.83 28.83 28.83

6880 1.50 146.0 2888 2395 2371 2283 254.4 12.1 462 6885 0.00 2.75 0.00 0.000 260 0.000 0.141 2889 3813 2327 2371 2283 0 0 0 0 0 0 28.83 14.48 28.83

6908 1.48 146.0 2888 3813 2371 2283 250.5 13.0 467 6915 0.12 2.47 0.00 0.000 5126 0.269 0.075 2870 2395 2327 2371 2283 0 0 0 0 0 0 14.40 14.59 28.83

7213 1.50 146.0 2870 2395 2371 2283 215.9 11.2 483 7214 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 2394 2327 2371 2283 0 0 0 0 0 0 28.83 28.83 28.83

7515 1.53 146.0 2870 2394 2371 2283 183.0 10.8 498 7517 0.00 0.00 0.00 0.000 6 0.000 0.000 2870 2394 2327 2371 2283 0 0 0 0 0 0 28.83 28.83 28.83

7816 1.56 146.0 2870 2395 2371 2283 151.5 10.2 513 7821 0.00 2.75 0.00 0.000 260 0.000 0.142 2870 3807 2326 2370 2283 0 0 0 0 0 0 28.83 14.49 28.83

7873 1.56 146.0 2870 3807 2371 2283 144.5 11.9 524 7880 0.00 2.45 0.00 0.000 1030 0.000 0.073 2880 2399 2327 2371 2283 0 0 0 0 0 0 28.83 14.59 28.83

8180 1.58 146.0 2880 2399 2371 2283 110.9 10.5 540 8185 0.00 2.75 0.00 0.000 260 0.000 0.142 2880 3813 2327 2371 2283 0 0 0 0 0 0 28.83 14.49 28.83

8207 1.58 146.0 2880 3813 2371 2283 107.7 10.8 545 8213 0.00 2.47 0.00 0.000 1030 0.000 0.073 2890 2391 2327 2371 2284 0 0 0 0 0 0 28.83 14.59 28.83

8526 1.62 153.7 2890 2391 2370 2284 75.4 9.6 563 8532 0.00 2.45 0.00 0.000 516 0.000 0.103 2899 988 2327 2371 2284 0 0 0 0 0 0 28.83 14.52 28.83

8616 1.67 165.1 2900 988 2371 2282 66.8 9.5 580 8631 0.00 2.55 8.88 0.268 9222 0.000 0.111 2899 2400 2276 2315 2237 0 0 0 0 0 0 28.83 14.52 14.26

8930 1.72 179.9 2900 2400 2322 2262 36.9 9.3 598 8951 0.10 2.72 12.75 0.233 10500 0.167 0.137 2943 3816 2217 2251 2183 0 0 0 0 0 0 14.63 14.49 14.33

9099 1.68 179.9 2943 3816 2254 2199 15.8 13.4 631 9107 0.17 2.47 1.73 0.181 13318 0.274 0.074 2914 2401 2215 2247 2184 0 0 0 0 0 0 14.33 14.57 14.46

9233 end climb: SURFACE_DEPTH_REACHED

state 9233 begin surface coast

9264 end surface coast: CONTROL_FINISHED_OK

state 9265 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	340	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	23	ALTIM_SENSITIVITY	1
D_NO_BLEED	50	SM_CC	601.23029	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	040215,124656,6653.581,-5743.374,181,99.0,181,-32.6	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	3.66	MHEAD_RNG_PITCHd_Wd	99.0,43627,-18.4,-10.000,-20.87,2243
_SM_ANGLEo	-1.4	D_GRID	731
GPS2	040215,124656,6653.581,-5743.374,181,99.0,181,-32.6

FREEZE	2.25,-1.669,-1.805,2,75,1	SC_FREEKB	7661280
FINISH	2.2,1.026486	_24V_AH	13.41,86.066
RAFOS_CLK	410	_10V_AH	13.06,0.000
RAFOS	0,1423166473,20.033333,20.020277,60,59,57,56,54,52,214,165,185,136,239,197	FG_AHR_24Vo	0.000
RAFOS_FIX	6653.580566,-5743.373535,040215,121256,2,103,0.28	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6625.71,-5725.81,220115,144240	MEM	271024
TT8_MAMPS	0.025466,0.025466	DATA_FILE_SIZE	23378,648
HUMID	47.75	CAP_FILE_SIZE	104015,0
INTERNAL_PRESSURE	8.51818	CFSIZE	260034560,227442688
TCM_TEMP	12.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	1	SOUNDSPEED	1466.3
ALTIM_TOP_PING	19.8,17.3	GPS	040215,124656,6653.581,-5743.374,181,99.0,181,-32.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	328	20.13	nil	0	0	0.00
Roll_motor	89	141	169.10	nil	0	0	0.00
VBD_pump_during_apogee	343	1298	5980.44	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	9285	7	886.28
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1363	11	204.18
LPSleep	6529	2	196.99
TT8_Active	404	11	60.65
TT8_Sampling	1042	30	421.18
TT8_CF8	163	36	77.47
TT8_Kalman	0	0	0.00
Analog_circuits	970	11	139.46
GPS_charging	0	0	0.00
Compass	967	6	75.85
RAFOS	2520	1	49.37
Transponder	4	30	1.76

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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-1.60	-146.0	2565	2551	2773	2746	0.0	0.0	0	63	0.00	0.00	-41.47	0.000	16386	0.000	0.000	2565	2551	3544	3537	3552	0	0	0	0	0	0	28.83	28.83	28.83
67	-1.60	-146.0	2565	2551	3539	3552	3.1	-1.9	4	73	1.10	2.47	0.00	0.000	4612	0.128	0.089	2201	1133	3546	3540	3552	0	0	0	0	0	0	14.49	14.51	28.83
96	-1.66	-146.0	2207	1132	3539	3553	5.5	-7.9	9	102	0.00	2.58	0.00	0.000	1030	0.000	0.108	2193	2558	3546	3539	3553	0	0	0	0	0	0	28.83	14.51	28.83
412	-1.63	-146.0	2194	2558	3540	3554	43.7	-12.4	34	413	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2558	3546	3538	3554	0	0	0	0	0	0	28.83	28.83	28.83
713	-1.60	-146.0	2193	2558	3540	3553	80.0	-11.7	49	718	0.00	2.47	0.00	0.000	516	0.000	0.092	2193	1139	3546	3540	3553	0	0	0	0	0	0	28.83	14.52	28.83
818	-1.58	-146.0	2193	1139	3540	3553	92.8	-11.6	69	824	0.00	2.58	0.00	0.000	1030	0.000	0.113	2185	2550	3546	3540	3552	0	0	0	0	0	0	28.83	14.51	28.83
1142	-1.55	-146.0	2186	2551	3540	3549	129.1	-10.7	88	1144	0.12	0.00	0.00	0.000	2054	0.325	0.000	2212	2551	3544	3540	3549	0	0	0	0	0	0	14.31	28.83	28.83
1442	-1.55	-146.0	2211	2550	3540	3546	158.6	-9.5	103	1447	0.00	2.45	0.00	0.000	260	0.000	0.138	2202	3839	3543	3540	3546	0	0	0	0	0	0	28.83	14.45	28.83
1468	-1.55	-146.0	2202	3839	3540	3546	161.5	-10.6	108	1474	0.00	2.20	0.00	0.000	1030	0.000	0.062	2198	2551	3543	3540	3546	0	0	0	0	0	0	28.83	14.60	28.83
1787	-1.55	-146.0	2202	2551	3539	3544	194.1	-10.3	126	1793	0.00	2.45	0.00	0.000	516	0.000	0.095	2202	1141	3541	3540	3543	0	0	0	0	0	0	28.83	14.48	28.83
1839	-1.55	-146.0	2202	1138	3540	3543	199.6	-10.3	136	1845	0.00	2.55	0.00	0.000	1030	0.000	0.114	2194	2553	3541	3540	3542	0	0	0	0	0	0	28.83	14.50	28.83
2152	-1.55	-146.0	2194	2552	3540	3542	232.9	-10.7	153	2158	0.00	2.47	0.00	0.000	516	0.000	0.095	2194	1137	3541	3540	3542	0	0	0	0	0	0	28.83	14.52	28.83
2184	-1.55	-146.0	2194	1137	3540	3542	236.4	-10.9	159	2191	0.10	2.55	0.00	0.000	3078	0.328	0.113	2206	2556	3541	3540	3542	0	0	0	0	0	0	14.32	14.50	28.83
2519	-1.55	-146.0	2206	2552	3541	3542	267.2	-8.9	174	2524	0.00	2.47	0.00	0.000	516	0.000	0.097	2207	1138	3541	3540	3542	0	0	0	0	0	0	28.83	14.52	28.83
2552	-1.55	-146.0	2207	1138	3540	3542	270.3	-9.3	180	2558	0.00	2.55	0.00	0.000	1030	0.000	0.115	2199	2552	3541	3540	3542	0	0	0	0	0	0	28.83	14.51	28.83
2888	-1.55	-146.0	2197	2552	3540	3542	300.0	-8.7	196	2889	0.00	0.00	0.00	0.000	6	0.000	0.000	2199	2552	3541	3540	3542	0	0	0	0	0	0	28.83	28.83	28.83
3186	-1.55	-146.0	2198	2552	3540	3542	326.0	-8.7	206	3191	0.00	2.47	0.00	0.000	516	0.000	0.097	2199	1137	3541	3540	3542	0	0	0	0	0	0	28.83	14.53	28.83
3224	-1.55	-146.0	2199	1137	3540	3542	329.4	-8.8	213	3229	0.00	2.55	0.00	0.000	1030	0.000	0.115	2191	2558	3541	3540	3542	0	0	0	0	0	0	28.83	14.52	28.83
3552	-1.55	-146.0	2191	2552	3540	3543	357.8	-8.7	228	3553	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	2553	3541	3540	3542	0	0	0	0	0	0	28.83	28.83	28.83
3853	-1.55	-146.0	2191	2553	3540	3544	384.4	-8.9	238	3858	0.00	2.47	0.00	0.000	516	0.000	0.102	2191	1143	3541	3540	3543	0	0	0	0	0	0	28.83	14.54	28.83
3890	-1.55	-146.0	2191	1143	3540	3539	388.1	-10.0	245	3896	0.12	2.55	0.00	0.000	3078	0.301	0.118	2210	2542	3542	3540	3544	0	0	0	0	0	0	14.33	14.54	28.83
4220	-1.58	-146.0	2210	2542	3540	3545	416.3	-8.5	260	4221	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	2542	3542	3540	3545	0	0	0	0	0	0	28.83	28.83	28.83
4521	-1.60	-146.0	2210	2542	3540	3546	442.1	-8.5	270	4527	0.00	2.47	0.00	0.000	516	0.000	0.107	2210	1142	3543	3540	3546	0	0	0	0	0	0	28.83	14.52	28.83
4641	-1.62	-146.0	2210	1142	3540	3547	452.2	-8.7	293	4648	0.00	2.60	0.00	0.000	1030	0.000	0.120	2202	2558	3543	3540	3547	0	0	0	0	0	0	28.83	14.52	28.83
4947	-1.88	-146.0	2202	2558	3541	3547	462.6	-0.0	304	4953	0.17	2.53	0.00	0.000	4612	0.129	0.108	2131	1146	3544	3541	3547	0	0	0	0	0	0	14.58	14.48	28.83
5003	end dive: NO_VERTICAL_VELOCITY
state	5003	begin apogee
5011	-0.38	0.0	2130	2407	3541	3548	462.5	0.0	315	5172	1.08	0.00	156.95	1.299	10246	0.155	0.000	2466	2407	2951	2970	2932	0	0	0	0	0	0	14.49	28.83	13.57
5173	end apogee: CONTROL_FINISHED_OK
state	5173	begin climb
5176	1.60	146.0	2466	2407	2961	2922	462.4	0.0	320	5350	1.35	2.85	163.02	1.196	10500	0.140	0.141	2897	3807	2343	2389	2297	0	0	0	0	0	0	14.07	13.84	13.41
5580	1.55	146.0	2896	3807	2371	2288	414.9	14.2	404	5586	0.00	2.50	0.00	0.000	1030	0.000	0.074	2906	2405	2329	2371	2288	0	0	0	0	0	0	28.83	14.27	28.83
5916	1.53	146.0	2907	2405	2371	2285	371.7	13.1	420	5918	0.12	0.00	0.00	0.000	4102	0.285	0.000	2879	2405	2328	2371	2285	0	0	0	0	0	0	14.29	28.83	28.83
6214	1.53	146.0	2878	2404	2371	2284	335.8	11.9	430	6219	0.00	2.72	0.00	0.000	260	0.000	0.142	2878	3811	2327	2371	2283	0	0	0	0	0	0	28.83	14.43	28.83
6251	1.50	146.0	2879	3811	2371	2284	330.8	13.5	437	6257	0.00	2.47	0.00	0.000	1030	0.000	0.073	2888	2395	2327	2371	2283	0	0	0	0	0	0	28.83	14.53	28.83
6581	1.50	146.0	2889	2395	2371	2283	290.6	12.1	452	6583	0.00	0.00	0.00	0.000	6	0.000	0.000	2888	2395	2327	2371	2283	0	0	0	0	0	0	28.83	28.83	28.83
6880	1.50	146.0	2888	2395	2371	2283	254.4	12.1	462	6885	0.00	2.75	0.00	0.000	260	0.000	0.141	2889	3813	2327	2371	2283	0	0	0	0	0	0	28.83	14.48	28.83
6908	1.48	146.0	2888	3813	2371	2283	250.5	13.0	467	6915	0.12	2.47	0.00	0.000	5126	0.269	0.075	2870	2395	2327	2371	2283	0	0	0	0	0	0	14.40	14.59	28.83
7213	1.50	146.0	2870	2395	2371	2283	215.9	11.2	483	7214	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	2394	2327	2371	2283	0	0	0	0	0	0	28.83	28.83	28.83
7515	1.53	146.0	2870	2394	2371	2283	183.0	10.8	498	7517	0.00	0.00	0.00	0.000	6	0.000	0.000	2870	2394	2327	2371	2283	0	0	0	0	0	0	28.83	28.83	28.83
7816	1.56	146.0	2870	2395	2371	2283	151.5	10.2	513	7821	0.00	2.75	0.00	0.000	260	0.000	0.142	2870	3807	2326	2370	2283	0	0	0	0	0	0	28.83	14.49	28.83
7873	1.56	146.0	2870	3807	2371	2283	144.5	11.9	524	7880	0.00	2.45	0.00	0.000	1030	0.000	0.073	2880	2399	2327	2371	2283	0	0	0	0	0	0	28.83	14.59	28.83
8180	1.58	146.0	2880	2399	2371	2283	110.9	10.5	540	8185	0.00	2.75	0.00	0.000	260	0.000	0.142	2880	3813	2327	2371	2283	0	0	0	0	0	0	28.83	14.49	28.83
8207	1.58	146.0	2880	3813	2371	2283	107.7	10.8	545	8213	0.00	2.47	0.00	0.000	1030	0.000	0.073	2890	2391	2327	2371	2284	0	0	0	0	0	0	28.83	14.59	28.83
8526	1.62	153.7	2890	2391	2370	2284	75.4	9.6	563	8532	0.00	2.45	0.00	0.000	516	0.000	0.103	2899	988	2327	2371	2284	0	0	0	0	0	0	28.83	14.52	28.83
8616	1.67	165.1	2900	988	2371	2282	66.8	9.5	580	8631	0.00	2.55	8.88	0.268	9222	0.000	0.111	2899	2400	2276	2315	2237	0	0	0	0	0	0	28.83	14.52	14.26
8930	1.72	179.9	2900	2400	2322	2262	36.9	9.3	598	8951	0.10	2.72	12.75	0.233	10500	0.167	0.137	2943	3816	2217	2251	2183	0	0	0	0	0	0	14.63	14.49	14.33
9099	1.68	179.9	2943	3816	2254	2199	15.8	13.4	631	9107	0.17	2.47	1.73	0.181	13318	0.274	0.074	2914	2401	2215	2247	2184	0	0	0	0	0	0	14.33	14.57	14.46
9233	end climb: SURFACE_DEPTH_REACHED
state	9233	begin surface coast
9264	end surface coast: CONTROL_FINISHED_OK
state	9265	begin surface