Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 120 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 217 HD_C 9.9999997e-06 ROLL_MAX 3790 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 3 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 120 ESCAPE_HEADING 0 C_ROLL_DIVE 2450 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2375 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 1 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 2

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 51 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 41 XPDR_VALID 1

D_BOOST 25 N_FILEKB 8 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.1

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 2709 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 360 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 390 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0022 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 4 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 25 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 97

USE_BATHY -3 T_RSLEEP 3 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 100 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 200 AH0_10V 0 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3880 MINV_24V 12 SIM_PITCH 0

MAX_BUOY 140 C_PITCH 3095 MINV_10V 12 SEABIRD_T_G 0.0043902649

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00063436845

GLIDE_SLOPE 40 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_T_I 2.5093383e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_T_J 2.9521423e-06

RHO 1.0275 P_OVSHOOT_WITHG 0.079999998 PRESSURE_YINT -51.110779 SEABIRD_C_G -9.69524

MASS 52199 PITCH_GAIN 28 PRESSURE_SLOPE 0.0001155691 SEABIRD_C_H 1.1253856

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_I -0.0011212705

NAV_MODE 10 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00015718494

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_PROFILE 3.0

HD_A 0.0038000001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 240 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_T_J 2.9521423e-06

AH0_10V 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SIM_PITCH 0

AH0_24V 350 D_SURF 2 PITCH_AD_RATE 160 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_CNV 0.003125763 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 28 STROBE 0

ALTIM_PING_DELTA 5 FERRY_MAX 45 PITCH_MAX 3880 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 2 FG_AHR_24V 0 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 1 PITCH_VBD_SHIFT 0.0022 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 40 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001155691 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -51.110779 T_ABORT 1440

CALL_TRIES 5 HD_C 9.9999997e-06 PROTOCOL 1 T_BOOST 2

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 360

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0.079999998 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 217 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_YINT -0.1 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 3095 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2375 LOGGERDEVICE3 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2450 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 60

C_VBD 2709 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DBDW 0 MASS 52199 ROLL_MAX 3790 USE_BATHY -3

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 0

DEVICE1 -1 MAX_BUOY 140 ROLL_MIN 240 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 51 VBD_DBAND 2

DEVICE4 -1 MISSION 3 R_STBD_OVSHOOT 41 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 10 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 120 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 N_DIVES 0 SEABIRD_C_G -9.69524 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 25 N_FILEKB 8 SEABIRD_C_H 1.1253856 VBD_TIMEOUT 720

D_CALL 0 N_GPS 25 SEABIRD_C_I -0.0011212705 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_C_J 0.00015718494 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_G 0.0043902649 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_T_H 0.00063436845 XPDR_VALID 1

D_OFFGRID 100 PHONE_SUPPLY -2 SEABIRD_T_I 2.5093383e-05

Pre-dive calculations and measurements:

GPS1 071014,190704,6701.196,-5648.780,35,0.8,35,-32.5 SPEED_LIMITS 0.109,0.246

_CALLS 1 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.31 MHEAD_RNG_PITCHd_Wd 37.1,3391,-17.5,-9.167,-20.44,2275

_SM_ANGLEo -70.0 D_GRID 547

GPS2 071014,191226,6701.192,-5648.739,4,1.0,4,-32.5

Post-dive calculations and measurements:

EKF 10088,4022.527832,-3408.352783,1.538442,0.512720,0.035493,-0.002671,0.000158,0.001040,0.000099,0.002025,0.002025,0.000050 _24V_AH 13.47,31.959

FINISH 1.5,1.003659 _10V_AH 13.06,0.000

SM_CCo 9947,55.33,0.089,0,0,1281,350.04 FG_AHR_24Vo 0.000

SM_GC 2.33,9.40,0.10,55.33,0.080,0.163,0.089,211,2460,1281,-8.96,-0.90,350.04,0,0,0,0,0,0,14.63,14.64,14.63 FG_AHR_10Vo 0.000

RAFOS_CLK -26 MEM 143252

RAFOS 0,1412712061,20.033333,20.016945,56,53,52,51,48,45,219,149,195,182,110,121 DATA_FILE_SIZE 20082,617

RAFOS_FIX 6705.674805,-5658.040039,071014,202000,2,85,1.86 CAP_FILE_SIZE 103744,0

IRIDIUM_FIX 6631.12,-5647.69,071014,161251 CFSIZE 1024409600,1003782144

TT8_MAMPS 0.03745,0.03745 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 43.58 INTR 0,10569.63,0x23769e,7,5

INTERNAL_PRESSURE 8.57221 SOUNDSPEED 1466.6

TCM_TEMP 13.60 CURRENT 0.023,87.27,1

XPDR_PINGS 0 GPS 071014,220105,6702.579,-5648.026,19,0.8,19,-32.5

SC_FREEKB 3981664

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 421 135.98 nil 0 0 0.00

Roll_motor 57 219 169.68 nil 0 0 0.00

VBD_pump_during_apogee 289 1509 5888.33 nil 0 0 0.00

VBD_pump_during_surface 55 88 66.13 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 9937 3 438.50

Iridium_during_xfer 208 142 398.95 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 20 1.50

TT8 1953 24 630.28

LPSleep 6590 2 198.82

TT8_Active 502 23 157.17

TT8_Sampling 1216 42 677.74

TT8_CF8 96 56 70.55

TT8_Kalman 0 0 0.00

Analog_circuits 1227 15 240.55

GPS_charging 0 0 0.00

Compass 925 5 60.44

RAFOS 2520 1 49.37

Transponder 0 5 0.03

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.92 -136.3 186 2464 1303 1229 0.0 0.0 0 85 0.00 0.00 -65.18 0.000 16386 0.000 0.000 183 2465 2994 2992 2997 0 0 0 0 0 0 28.83 28.83 28.83

87 -0.92 -136.3 183 2464 2996 2993 3.4 -2.3 6 112 12.27 0.00 -5.65 0.000 18438 0.422 0.000 2788 2465 3265 3292 3239 0 0 0 0 0 0 14.35 28.83 14.78

431 -0.92 -136.3 2788 2465 3297 3234 67.5 -16.7 25 433 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2465 3267 3297 3238 0 0 0 0 0 0 28.83 28.83 28.83

732 -0.92 -136.3 2788 2465 3297 3239 110.0 -14.5 35 734 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2465 3268 3298 3239 0 0 0 0 0 0 28.83 28.83 28.83

1041 -0.92 -136.3 2788 2465 3299 3239 151.4 -12.8 49 1043 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2465 3269 3299 3239 0 0 0 0 0 0 28.83 28.83 28.83

1342 -0.92 -136.3 2788 2465 3299 3238 190.1 -12.6 64 1349 0.00 2.40 0.00 0.000 516 0.000 0.070 2788 1053 3268 3299 3238 0 0 0 0 0 0 28.83 14.78 28.83

1386 -0.92 -136.3 2788 1053 3299 3238 195.7 -12.3 72 1393 0.00 2.35 0.00 0.000 1030 0.000 0.069 2786 2437 3268 3299 3237 0 0 0 0 0 0 28.83 14.78 28.83

1712 -0.92 -136.3 2786 2437 3299 3237 233.4 -11.6 91 1713 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2437 3268 3299 3238 0 0 0 0 0 0 28.83 28.83 28.83

2012 -0.92 -136.3 2786 2436 3299 3237 268.0 -11.5 106 2020 0.00 2.38 0.00 0.000 260 0.000 0.097 2785 3781 3268 3299 3237 0 0 0 0 0 0 28.83 14.80 28.83

2058 -0.92 -136.3 2786 3781 3299 3237 273.8 -12.6 114 2066 0.00 2.20 0.00 0.000 1030 0.000 0.057 2786 2443 3267 3299 3236 0 0 0 0 0 0 28.83 14.84 28.83

2384 -0.92 -136.3 2786 2443 3299 3236 311.1 -11.2 133 2385 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2444 3267 3299 3236 0 0 0 0 0 0 28.83 28.83 28.83

2684 -0.92 -136.3 2786 2444 3299 3236 345.6 -11.3 148 2685 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2443 3267 3298 3236 0 0 0 0 0 0 28.83 28.83 28.83

2985 -0.92 -136.3 2786 2444 3299 3236 380.6 -11.6 163 2986 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2444 3267 3299 3236 0 0 0 0 0 0 28.83 28.83 28.83

3284 -0.92 -136.3 2786 2443 3299 3236 413.6 -10.7 178 3285 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2444 3267 3299 3236 0 0 0 0 0 0 28.83 28.83 28.83

3584 -0.92 -136.3 2786 2443 3299 3236 445.0 -10.4 193 3585 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2443 3267 3299 3236 0 0 0 0 0 0 28.83 28.83 28.83

3884 -0.92 -136.3 2786 2443 3298 3236 476.4 -10.6 208 3885 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2443 3267 3299 3236 0 0 0 0 0 0 28.83 28.83 28.83

4185 -0.92 -136.3 2786 2443 3299 3236 508.1 -10.5 223 4186 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2443 3268 3299 3237 0 0 0 0 0 0 28.83 28.83 28.83

4484 -0.92 -136.3 2786 2443 3301 3236 539.6 -10.4 238 4485 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2443 3268 3300 3236 0 0 0 0 0 0 28.83 28.83 28.83

4682 end dive: NO_VERTICAL_VELOCITY

state 4682 begin apogee

4687 -0.18 0.0 2785 2390 3301 3236 540.0 0.0 248 4796 0.80 0.00 105.95 1.509 10246 0.184 0.000 3030 2387 2708 2772 2645 0 0 0 0 0 0 14.73 28.83 13.66

4798 end apogee: CONTROL_FINISHED_OK

state 4798 begin climb

4799 0.92 136.3 3030 2389 2768 2642 539.9 0.0 253 4918 1.12 2.60 107.47 1.470 11012 0.171 0.073 3380 972 2148 2216 2081 0 0 0 0 0 0 14.19 14.00 13.47

4946 0.92 136.3 3379 971 2213 2080 529.5 10.3 269 4954 0.00 2.47 0.00 0.000 1030 0.000 0.062 3380 2375 2145 2212 2079 0 0 0 0 0 0 28.83 14.14 28.83

5252 0.92 136.3 3380 2375 2209 2079 495.2 11.4 285 5258 0.00 2.42 0.00 0.000 516 0.000 0.070 3390 972 2144 2210 2079 0 0 0 0 0 0 28.83 14.45 28.83

5321 0.92 136.3 3390 972 2209 2079 487.1 11.7 298 5330 0.00 2.42 0.00 0.000 1030 0.000 0.061 3390 2382 2144 2209 2080 0 0 0 0 0 0 28.83 14.51 28.83

5642 0.92 136.3 3390 2382 2208 2079 449.4 11.8 316 5649 0.00 2.42 0.00 0.000 516 0.000 0.070 3401 967 2143 2208 2079 0 0 0 0 0 0 28.83 14.62 28.83

5702 0.92 136.3 3401 967 2208 2079 442.1 12.2 327 5710 0.00 2.38 0.00 0.000 1030 0.000 0.060 3401 2376 2143 2208 2079 0 0 0 0 0 0 28.83 14.63 28.83

6008 0.92 136.3 3401 2376 2208 2079 404.4 12.4 343 6010 0.00 0.00 0.00 0.000 6 0.000 0.000 3401 2376 2143 2208 2079 0 0 0 0 0 0 28.83 28.83 28.83

6307 0.92 136.3 3401 2376 2208 2079 368.0 12.0 358 6316 0.00 2.38 0.00 0.000 516 0.000 0.070 3411 973 2143 2208 2079 0 0 0 0 0 0 28.83 14.74 28.83

6378 0.92 136.3 3412 973 2208 2079 359.6 11.7 371 6385 0.00 2.35 0.00 0.000 1030 0.000 0.061 3412 2377 2143 2208 2079 0 0 0 0 0 0 28.83 14.75 28.83

6697 0.92 136.3 3412 2377 2204 2079 320.3 12.3 389 6699 0.00 0.00 0.00 0.000 6 0.000 0.000 3412 2377 2143 2208 2079 0 0 0 0 0 0 28.83 28.83 28.83

6998 0.92 136.3 3412 2377 2208 2079 284.4 12.0 404 7005 0.00 2.38 0.00 0.000 516 0.000 0.070 3422 973 2144 2208 2080 0 0 0 0 0 0 28.83 14.78 28.83

7072 0.92 136.3 3423 973 2208 2079 275.3 11.6 418 7081 0.12 2.35 0.00 0.000 5126 0.269 0.061 3394 2378 2143 2208 2079 0 0 0 0 0 0 14.68 14.81 28.83

7390 0.92 136.3 3394 2379 2208 2079 241.8 10.3 435 7396 0.00 2.38 0.00 0.000 516 0.000 0.070 3405 972 2143 2208 2079 0 0 0 0 0 0 28.83 14.81 28.83

7436 0.92 136.3 3405 972 2209 2079 236.8 10.6 443 7443 0.00 2.35 0.00 0.000 1030 0.000 0.062 3405 2376 2143 2208 2079 0 0 0 0 0 0 28.83 14.81 28.83

7760 0.92 136.3 3405 2376 2209 2079 202.1 10.5 462 7761 0.00 0.00 0.00 0.000 6 0.000 0.000 3405 2376 2144 2209 2079 0 0 0 0 0 0 28.83 28.83 28.83

8061 0.92 136.3 3405 2376 2204 2079 171.8 9.9 477 8062 0.00 0.00 0.00 0.000 6 0.000 0.000 3405 2376 2144 2209 2079 0 0 0 0 0 0 28.83 28.83 28.83

8361 0.92 136.6 3405 2376 2209 2080 143.9 9.2 492 8368 0.00 2.35 0.00 0.000 516 0.000 0.070 3416 974 2144 2209 2079 0 0 0 0 0 0 28.83 14.82 28.83

8401 0.92 136.6 3416 973 2209 2079 140.0 9.8 499 8409 0.00 2.35 0.00 0.000 1030 0.000 0.063 3415 2380 2144 2209 2080 0 0 0 0 0 0 28.83 14.83 28.83

8727 0.92 136.6 3416 2379 2209 2079 108.2 9.6 514 8735 0.00 2.40 0.00 0.000 516 0.000 0.072 3426 966 2144 2209 2080 0 0 0 0 0 0 28.83 14.83 28.83

8779 0.92 136.6 3427 966 2209 2080 103.2 10.1 523 8786 0.12 2.35 0.00 0.000 5126 0.263 0.061 3397 2375 2144 2209 2080 0 0 0 0 0 0 14.71 14.83 28.83

9101 0.94 144.8 3397 2375 2208 2079 74.4 8.8 536 9114 0.00 2.50 6.93 0.839 8452 0.000 0.091 3398 3781 2117 2181 2053 0 0 0 0 0 0 28.83 14.80 14.31

9157 0.94 144.8 3397 3781 2178 2053 69.1 9.4 546 9166 0.00 2.33 0.00 0.000 1030 0.000 0.053 3408 2359 2116 2179 2053 0 0 0 0 0 0 28.83 14.83 28.83

9474 1.07 202.1 3408 2358 2178 2051 43.8 6.6 558 9531 0.00 2.38 46.55 0.912 8708 0.000 0.072 3418 994 1880 1945 1815 0 0 0 0 0 0 28.83 14.60 14.20

9624 1.13 229.8 3418 995 1941 1814 32.9 7.9 585 9657 0.10 2.35 22.73 0.881 11270 0.177 0.062 3456 2382 1771 1836 1707 0 0 0 0 0 0 14.65 14.65 14.12

9909 end climb: SURFACE_DEPTH_REACHED

state 9909 begin surface coast

9930 end surface coast: CONTROL_FINISHED_OK

state 9930 begin surface

ID	217	HD_C	9.9999997e-06	ROLL_MAX	3790	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	3	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	120	ESCAPE_HEADING	0	C_ROLL_DIVE	2450	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2375	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	1	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	2
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	51	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	41	XPDR_VALID	1
D_BOOST	25	N_FILEKB	8	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.1
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	2709	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	360	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	390	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0022	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	4	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	25	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	97
USE_BATHY	-3	T_RSLEEP	3	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	100	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	200	AH0_10V	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3880	MINV_24V	12	SIM_PITCH	0
MAX_BUOY	140	C_PITCH	3095	MINV_10V	12	SEABIRD_T_G	0.0043902649
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00063436845
GLIDE_SLOPE	40	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_T_I	2.5093383e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_T_J	2.9521423e-06
RHO	1.0275	P_OVSHOOT_WITHG	0.079999998	PRESSURE_YINT	-51.110779	SEABIRD_C_G	-9.69524
MASS	52199	PITCH_GAIN	28	PRESSURE_SLOPE	0.0001155691	SEABIRD_C_H	1.1253856
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0011212705
NAV_MODE	10	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00015718494
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_PROFILE	3.0
HD_A	0.0038000001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	240	ALTIM_TOP_PING_RANGE	0

GPS1	071014,190704,6701.196,-5648.780,35,0.8,35,-32.5	SPEED_LIMITS	0.109,0.246
_CALLS	1	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.31	MHEAD_RNG_PITCHd_Wd	37.1,3391,-17.5,-9.167,-20.44,2275
_SM_ANGLEo	-70.0	D_GRID	547
GPS2	071014,191226,6701.192,-5648.739,4,1.0,4,-32.5

EKF	10088,4022.527832,-3408.352783,1.538442,0.512720,0.035493,-0.002671,0.000158,0.001040,0.000099,0.002025,0.002025,0.000050	_24V_AH	13.47,31.959
FINISH	1.5,1.003659	_10V_AH	13.06,0.000
SM_CCo	9947,55.33,0.089,0,0,1281,350.04	FG_AHR_24Vo	0.000
SM_GC	2.33,9.40,0.10,55.33,0.080,0.163,0.089,211,2460,1281,-8.96,-0.90,350.04,0,0,0,0,0,0,14.63,14.64,14.63	FG_AHR_10Vo	0.000
RAFOS_CLK	-26	MEM	143252
RAFOS	0,1412712061,20.033333,20.016945,56,53,52,51,48,45,219,149,195,182,110,121	DATA_FILE_SIZE	20082,617
RAFOS_FIX	6705.674805,-5658.040039,071014,202000,2,85,1.86	CAP_FILE_SIZE	103744,0
IRIDIUM_FIX	6631.12,-5647.69,071014,161251	CFSIZE	1024409600,1003782144
TT8_MAMPS	0.03745,0.03745	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	43.58	INTR	0,10569.63,0x23769e,7,5
INTERNAL_PRESSURE	8.57221	SOUNDSPEED	1466.6
TCM_TEMP	13.60	CURRENT	0.023,87.27,1
XPDR_PINGS	0	GPS	071014,220105,6702.579,-5648.026,19,0.8,19,-32.5
SC_FREEKB	3981664

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	421	135.98	nil	0	0	0.00
Roll_motor	57	219	169.68	nil	0	0	0.00
VBD_pump_during_apogee	289	1509	5888.33	nil	0	0	0.00
VBD_pump_during_surface	55	88	66.13	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	9937	3	438.50
Iridium_during_xfer	208	142	398.95	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	20	1.50
TT8	1953	24	630.28
LPSleep	6590	2	198.82
TT8_Active	502	23	157.17
TT8_Sampling	1216	42	677.74
TT8_CF8	96	56	70.55
TT8_Kalman	0	0	0.00
Analog_circuits	1227	15	240.55
GPS_charging	0	0	0.00
Compass	925	5	60.44
RAFOS	2520	1	49.37
Transponder	0	5	0.03

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.92	-136.3	186	2464	1303	1229	0.0	0.0	0	85	0.00	0.00	-65.18	0.000	16386	0.000	0.000	183	2465	2994	2992	2997	0	0	0	0	0	0	28.83	28.83	28.83
87	-0.92	-136.3	183	2464	2996	2993	3.4	-2.3	6	112	12.27	0.00	-5.65	0.000	18438	0.422	0.000	2788	2465	3265	3292	3239	0	0	0	0	0	0	14.35	28.83	14.78
431	-0.92	-136.3	2788	2465	3297	3234	67.5	-16.7	25	433	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2465	3267	3297	3238	0	0	0	0	0	0	28.83	28.83	28.83
732	-0.92	-136.3	2788	2465	3297	3239	110.0	-14.5	35	734	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2465	3268	3298	3239	0	0	0	0	0	0	28.83	28.83	28.83
1041	-0.92	-136.3	2788	2465	3299	3239	151.4	-12.8	49	1043	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2465	3269	3299	3239	0	0	0	0	0	0	28.83	28.83	28.83
1342	-0.92	-136.3	2788	2465	3299	3238	190.1	-12.6	64	1349	0.00	2.40	0.00	0.000	516	0.000	0.070	2788	1053	3268	3299	3238	0	0	0	0	0	0	28.83	14.78	28.83
1386	-0.92	-136.3	2788	1053	3299	3238	195.7	-12.3	72	1393	0.00	2.35	0.00	0.000	1030	0.000	0.069	2786	2437	3268	3299	3237	0	0	0	0	0	0	28.83	14.78	28.83
1712	-0.92	-136.3	2786	2437	3299	3237	233.4	-11.6	91	1713	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2437	3268	3299	3238	0	0	0	0	0	0	28.83	28.83	28.83
2012	-0.92	-136.3	2786	2436	3299	3237	268.0	-11.5	106	2020	0.00	2.38	0.00	0.000	260	0.000	0.097	2785	3781	3268	3299	3237	0	0	0	0	0	0	28.83	14.80	28.83
2058	-0.92	-136.3	2786	3781	3299	3237	273.8	-12.6	114	2066	0.00	2.20	0.00	0.000	1030	0.000	0.057	2786	2443	3267	3299	3236	0	0	0	0	0	0	28.83	14.84	28.83
2384	-0.92	-136.3	2786	2443	3299	3236	311.1	-11.2	133	2385	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2444	3267	3299	3236	0	0	0	0	0	0	28.83	28.83	28.83
2684	-0.92	-136.3	2786	2444	3299	3236	345.6	-11.3	148	2685	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2443	3267	3298	3236	0	0	0	0	0	0	28.83	28.83	28.83
2985	-0.92	-136.3	2786	2444	3299	3236	380.6	-11.6	163	2986	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2444	3267	3299	3236	0	0	0	0	0	0	28.83	28.83	28.83
3284	-0.92	-136.3	2786	2443	3299	3236	413.6	-10.7	178	3285	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2444	3267	3299	3236	0	0	0	0	0	0	28.83	28.83	28.83
3584	-0.92	-136.3	2786	2443	3299	3236	445.0	-10.4	193	3585	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2443	3267	3299	3236	0	0	0	0	0	0	28.83	28.83	28.83
3884	-0.92	-136.3	2786	2443	3298	3236	476.4	-10.6	208	3885	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2443	3267	3299	3236	0	0	0	0	0	0	28.83	28.83	28.83
4185	-0.92	-136.3	2786	2443	3299	3236	508.1	-10.5	223	4186	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2443	3268	3299	3237	0	0	0	0	0	0	28.83	28.83	28.83
4484	-0.92	-136.3	2786	2443	3301	3236	539.6	-10.4	238	4485	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2443	3268	3300	3236	0	0	0	0	0	0	28.83	28.83	28.83
4682	end dive: NO_VERTICAL_VELOCITY
state	4682	begin apogee
4687	-0.18	0.0	2785	2390	3301	3236	540.0	0.0	248	4796	0.80	0.00	105.95	1.509	10246	0.184	0.000	3030	2387	2708	2772	2645	0	0	0	0	0	0	14.73	28.83	13.66
4798	end apogee: CONTROL_FINISHED_OK
state	4798	begin climb
4799	0.92	136.3	3030	2389	2768	2642	539.9	0.0	253	4918	1.12	2.60	107.47	1.470	11012	0.171	0.073	3380	972	2148	2216	2081	0	0	0	0	0	0	14.19	14.00	13.47
4946	0.92	136.3	3379	971	2213	2080	529.5	10.3	269	4954	0.00	2.47	0.00	0.000	1030	0.000	0.062	3380	2375	2145	2212	2079	0	0	0	0	0	0	28.83	14.14	28.83
5252	0.92	136.3	3380	2375	2209	2079	495.2	11.4	285	5258	0.00	2.42	0.00	0.000	516	0.000	0.070	3390	972	2144	2210	2079	0	0	0	0	0	0	28.83	14.45	28.83
5321	0.92	136.3	3390	972	2209	2079	487.1	11.7	298	5330	0.00	2.42	0.00	0.000	1030	0.000	0.061	3390	2382	2144	2209	2080	0	0	0	0	0	0	28.83	14.51	28.83
5642	0.92	136.3	3390	2382	2208	2079	449.4	11.8	316	5649	0.00	2.42	0.00	0.000	516	0.000	0.070	3401	967	2143	2208	2079	0	0	0	0	0	0	28.83	14.62	28.83
5702	0.92	136.3	3401	967	2208	2079	442.1	12.2	327	5710	0.00	2.38	0.00	0.000	1030	0.000	0.060	3401	2376	2143	2208	2079	0	0	0	0	0	0	28.83	14.63	28.83
6008	0.92	136.3	3401	2376	2208	2079	404.4	12.4	343	6010	0.00	0.00	0.00	0.000	6	0.000	0.000	3401	2376	2143	2208	2079	0	0	0	0	0	0	28.83	28.83	28.83
6307	0.92	136.3	3401	2376	2208	2079	368.0	12.0	358	6316	0.00	2.38	0.00	0.000	516	0.000	0.070	3411	973	2143	2208	2079	0	0	0	0	0	0	28.83	14.74	28.83
6378	0.92	136.3	3412	973	2208	2079	359.6	11.7	371	6385	0.00	2.35	0.00	0.000	1030	0.000	0.061	3412	2377	2143	2208	2079	0	0	0	0	0	0	28.83	14.75	28.83
6697	0.92	136.3	3412	2377	2204	2079	320.3	12.3	389	6699	0.00	0.00	0.00	0.000	6	0.000	0.000	3412	2377	2143	2208	2079	0	0	0	0	0	0	28.83	28.83	28.83
6998	0.92	136.3	3412	2377	2208	2079	284.4	12.0	404	7005	0.00	2.38	0.00	0.000	516	0.000	0.070	3422	973	2144	2208	2080	0	0	0	0	0	0	28.83	14.78	28.83
7072	0.92	136.3	3423	973	2208	2079	275.3	11.6	418	7081	0.12	2.35	0.00	0.000	5126	0.269	0.061	3394	2378	2143	2208	2079	0	0	0	0	0	0	14.68	14.81	28.83
7390	0.92	136.3	3394	2379	2208	2079	241.8	10.3	435	7396	0.00	2.38	0.00	0.000	516	0.000	0.070	3405	972	2143	2208	2079	0	0	0	0	0	0	28.83	14.81	28.83
7436	0.92	136.3	3405	972	2209	2079	236.8	10.6	443	7443	0.00	2.35	0.00	0.000	1030	0.000	0.062	3405	2376	2143	2208	2079	0	0	0	0	0	0	28.83	14.81	28.83
7760	0.92	136.3	3405	2376	2209	2079	202.1	10.5	462	7761	0.00	0.00	0.00	0.000	6	0.000	0.000	3405	2376	2144	2209	2079	0	0	0	0	0	0	28.83	28.83	28.83
8061	0.92	136.3	3405	2376	2204	2079	171.8	9.9	477	8062	0.00	0.00	0.00	0.000	6	0.000	0.000	3405	2376	2144	2209	2079	0	0	0	0	0	0	28.83	28.83	28.83
8361	0.92	136.6	3405	2376	2209	2080	143.9	9.2	492	8368	0.00	2.35	0.00	0.000	516	0.000	0.070	3416	974	2144	2209	2079	0	0	0	0	0	0	28.83	14.82	28.83
8401	0.92	136.6	3416	973	2209	2079	140.0	9.8	499	8409	0.00	2.35	0.00	0.000	1030	0.000	0.063	3415	2380	2144	2209	2080	0	0	0	0	0	0	28.83	14.83	28.83
8727	0.92	136.6	3416	2379	2209	2079	108.2	9.6	514	8735	0.00	2.40	0.00	0.000	516	0.000	0.072	3426	966	2144	2209	2080	0	0	0	0	0	0	28.83	14.83	28.83
8779	0.92	136.6	3427	966	2209	2080	103.2	10.1	523	8786	0.12	2.35	0.00	0.000	5126	0.263	0.061	3397	2375	2144	2209	2080	0	0	0	0	0	0	14.71	14.83	28.83
9101	0.94	144.8	3397	2375	2208	2079	74.4	8.8	536	9114	0.00	2.50	6.93	0.839	8452	0.000	0.091	3398	3781	2117	2181	2053	0	0	0	0	0	0	28.83	14.80	14.31
9157	0.94	144.8	3397	3781	2178	2053	69.1	9.4	546	9166	0.00	2.33	0.00	0.000	1030	0.000	0.053	3408	2359	2116	2179	2053	0	0	0	0	0	0	28.83	14.83	28.83
9474	1.07	202.1	3408	2358	2178	2051	43.8	6.6	558	9531	0.00	2.38	46.55	0.912	8708	0.000	0.072	3418	994	1880	1945	1815	0	0	0	0	0	0	28.83	14.60	14.20
9624	1.13	229.8	3418	995	1941	1814	32.9	7.9	585	9657	0.10	2.35	22.73	0.881	11270	0.177	0.062	3456	2382	1771	1836	1707	0	0	0	0	0	0	14.65	14.65	14.12
9909	end climb: SURFACE_DEPTH_REACHED
state	9909	begin surface coast
9930	end surface coast: CONTROL_FINISHED_OK
state	9930	begin surface