Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 393 * 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 5

DIVE 393 ESCAPE_HEADING 120 C_ROLL_DIVE 2450 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2375 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

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 2

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 71 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 28 XPDR_VALID 1

D_BOOST 25 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.1

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 1 VBD_MIN 500 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 DEVICE1 -1

SURFACE_URGENCY 20 NOCOMM_ACTION 161 C_VBD 2709 DEVICE2 -1

SURFACE_URGENCY_TRY 10 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 20 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE4 -1

T_DIVE 360 CALL_TRIES 3 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 3 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 2 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 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 2 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 20

AD7714Ch0Gain 128 D_PITCH 1.75 PITCH_ADJ_DBAND 0 SEABIRD_T_J 2.9521423e-06

AH0_10V 0 D_SAFE 500 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 120 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 20

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 20

ALTIM_PULSE 2 FG_AHR_24V 0 PITCH_MIN 200 SURFACE_URGENCY_TRY 10

ALTIM_SENSITIVITY 3 FILEMGR 2 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2.8 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0022 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 40 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 0.0038000001 PRESSURE_SLOPE 0.0001155691 TGT_DEFAULT_LON -5500

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -51.110779 T_ABORT 1440

CALL_TRIES 3 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 3

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.1 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 3

DBDW 0 MASS 52199 ROLL_MAX 3790 USE_BATHY -3

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 2

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 71 VBD_DBAND 2

DEVICE4 -1 MISSION 3 R_STBD_OVSHOOT 28 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 393 NOCOMM_ACTION 161 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 4 SEABIRD_C_H 1.1253856 VBD_TIMEOUT 720

D_CALL 3 N_GPS 25 SEABIRD_C_I -0.0011212705 W_ADJ_DBAND 0

D_FINISH 9 N_NOCOMM 6 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 221114,122334,6704.251,-5652.819,34,0.8,34,-32.6 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 2.29 MHEAD_RNG_PITCHd_Wd 202.1,4353,-17.5,-9.167,-20.44,2275

_SM_ANGLEo -71.3 D_GRID 503

GPS2 221114,123020,6704.332,-5652.968,5,0.8,5,-32.6

Post-dive calculations and measurements:

FREEZE 1.45,1.070,-1.801,0,1,0 SC_FREEKB 3894272

FINISH 1.5,1.026321 _24V_AH 13.39,93.851

SM_CCo 9181,63.58,0.082,0,0,1281,350.04 _10V_AH 12.95,0.000

SM_GC 2.40,9.30,2.22,63.58,0.070,0.048,0.082,208,2446,1281,-8.97,1.75,350.04,0,0,0,0,0,0,14.57,14.68,14.55 FG_AHR_24Vo 0.000

RAFOS_CLK -2 FG_AHR_10Vo 0.000

RAFOS 2,1416658637,12.300000,12.288055,61,55,54,53,53,52,156,142,217,184,170,196 MEM 143112

RAFOS_FIX 6706.063477,-5707.595703,221114,000056,2,84,6.22 DATA_FILE_SIZE 23409,635

IRIDIUM_FIX 6631.12,-5655.33,221114,092957 CAP_FILE_SIZE 108201,0

TT8_MAMPS 0.03745,0.03745 CFSIZE 1024409600,972210176

HUMID 41.77 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.60151 INTR 0,10594.44,0x23769e,7,5

TCM_TEMP 14.10 SOUNDSPEED 1473.1

XPDR_PINGS 0 CURRENT 0.407,329.83,1

ALTIM_TOP_PING 19.2,17.8 GPS 221114,150623,6704.828,-5655.474,24,0.8,24,-32.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 392 124.67 nil 0 0 0.00

Roll_motor 84 88 100.08 nil 0 0 0.00

VBD_pump_during_apogee 274 1445 5314.88 nil 0 0 0.00

VBD_pump_during_surface 63 81 69.68 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 9173 3 399.80

Iridium_during_xfer 243 141 460.63 nil 0 0 0.00

Transponder_ping 0 420 1.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 20 1.61

TT8 1449 24 463.53

LPSleep 6268 2 187.52

TT8_Active 473 23 146.97

TT8_Sampling 1259 42 695.77

TT8_CF8 227 56 165.76

TT8_Kalman 0 0 0.00

Analog_circuits 1267 15 246.21

GPS_charging 0 0 0.00

Compass 958 5 62.08

RAFOS 1080 1 20.98

Transponder 2 30 1.02

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 -0.92 -136.3 148 2449 1306 1230 0.0 0.0 0 82 0.00 0.00 -61.10 0.000 16386 0.000 0.000 147 2449 2817 2827 2808 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.92 -136.3 146 2449 2827 2809 3.2 -2.0 6 113 12.10 0.00 -10.90 0.000 18950 0.392 0.000 2788 2449 3267 3299 3235 0 0 0 0 0 0 14.19 28.83 14.79

430 -0.92 -136.3 2787 2449 3302 3234 60.9 -16.7 29 436 0.00 2.35 0.00 0.000 516 0.000 0.060 2788 1077 3268 3302 3234 0 0 0 0 0 0 28.83 14.52 28.83

518 -0.92 -136.3 2787 1077 3302 3234 75.2 -16.3 46 525 0.00 2.38 0.00 0.000 1030 0.000 0.060 2785 2456 3268 3302 3234 0 0 0 0 0 0 28.83 14.52 28.83

824 -0.92 -136.3 2786 2455 3301 3231 120.8 -14.2 57 829 0.00 2.35 0.00 0.000 260 0.000 0.089 2786 3785 3266 3301 3232 0 0 0 0 0 0 28.83 14.46 28.83

856 -0.92 -136.3 2786 3784 3301 3232 125.5 -14.5 63 863 0.00 2.17 0.00 0.000 1030 0.000 0.049 2786 2456 3266 3302 3231 0 0 0 0 0 0 28.83 14.64 28.83

1171 -0.92 -136.3 2786 2457 3301 3230 163.9 -12.0 80 1172 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2457 3266 3301 3231 0 0 0 0 0 0 28.83 28.83 28.83

1472 -0.92 -136.3 2786 2457 3301 3230 203.0 -12.4 95 1479 0.00 2.38 0.00 0.000 260 0.000 0.087 2786 3789 3265 3301 3230 0 0 0 0 0 0 28.83 14.50 28.83

1496 -0.92 -136.3 2786 3789 3301 3230 206.2 -12.4 99 1503 0.00 2.20 0.00 0.000 1030 0.000 0.048 2785 2442 3265 3301 3230 0 0 0 0 0 0 28.83 14.68 28.83

1821 -0.92 -136.3 2786 2442 3301 3230 246.0 -12.7 118 1822 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2442 3265 3301 3230 0 0 0 0 0 0 28.83 28.83 28.83

2122 -0.92 -136.3 2786 2442 3301 3230 280.6 -11.3 133 2128 0.00 2.38 0.00 0.000 260 0.000 0.086 2786 3781 3265 3300 3230 0 0 0 0 0 0 28.83 14.50 28.83

2182 -0.92 -136.3 2785 3781 3301 3230 287.5 -11.8 144 2188 0.00 2.17 0.00 0.000 1030 0.000 0.048 2786 2451 3266 3303 3230 0 0 0 0 0 0 28.83 14.69 28.83

2486 -0.92 -136.3 2786 2451 3302 3230 321.7 -11.1 160 2492 0.00 2.38 0.00 0.000 260 0.000 0.085 2785 3790 3266 3302 3231 0 0 0 0 0 0 28.83 14.50 28.83

2510 -0.92 -136.3 2786 3790 3302 3230 324.3 -10.9 164 2516 0.00 2.20 0.00 0.000 1030 0.000 0.047 2786 2442 3265 3301 3230 0 0 0 0 0 0 28.83 14.70 28.83

2834 -0.92 -136.3 2785 2438 3302 3231 360.5 -11.2 183 2840 0.00 2.38 0.00 0.000 260 0.000 0.085 2785 3781 3266 3302 3231 0 0 0 0 0 0 28.83 14.50 28.83

2858 -0.92 -136.3 2786 3781 3302 3230 363.2 -11.1 187 2864 0.00 2.17 0.00 0.000 1030 0.000 0.047 2785 2447 3267 3303 3231 0 0 0 0 0 0 28.83 14.69 28.83

3182 -0.92 -136.3 2786 2446 3303 3230 399.7 -11.0 206 3183 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2447 3267 3303 3231 0 0 0 0 0 0 28.83 28.83 28.83

3484 -0.92 -136.3 2785 2446 3304 3230 432.3 -10.6 221 3490 0.00 2.38 0.00 0.000 260 0.000 0.084 2785 3785 3267 3304 3231 0 0 0 0 0 0 28.83 14.50 28.83

3516 -0.92 -136.3 2785 3785 3304 3230 436.0 -10.3 227 3523 0.00 2.17 0.00 0.000 1030 0.000 0.048 2785 2451 3267 3304 3230 0 0 0 0 0 0 28.83 14.69 28.83

3831 -0.92 -136.3 2785 2451 3305 3230 469.8 -10.5 244 3832 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2450 3268 3305 3231 0 0 0 0 0 0 28.83 28.83 28.83

4132 -0.92 -136.3 2785 2451 3306 3231 501.2 -10.4 259 4139 0.00 2.38 0.00 0.000 260 0.000 0.086 2785 3789 3268 3305 3231 0 0 0 0 0 0 28.83 14.50 28.83

4148 end dive: TARGET_DEPTH_EXCEEDED

state 4148 begin apogee

4157 -0.18 0.0 2786 2378 3306 3231 503.4 -10.7 262 4272 0.88 0.00 107.47 1.445 10246 0.222 0.000 3030 2378 2704 2773 2636 0 0 0 0 0 0 14.29 28.83 13.61

4273 end apogee: CONTROL_FINISHED_OK

state 4273 begin climb

4276 0.92 136.3 3030 2378 2773 2636 506.1 0.0 268 4394 1.10 2.47 107.57 1.414 10756 0.150 0.061 3385 980 2150 2221 2079 0 0 0 0 0 0 14.22 14.04 13.39

4442 0.92 136.3 3386 980 2215 2078 493.9 10.9 298 4448 0.00 2.45 0.00 0.000 1030 0.000 0.052 3385 2390 2146 2214 2079 0 0 0 0 0 0 28.83 14.15 28.83

4761 0.92 136.3 3385 2390 2212 2078 460.0 10.5 316 4767 0.00 2.42 0.00 0.000 516 0.000 0.060 3395 977 2145 2212 2078 0 0 0 0 0 0 28.83 14.45 28.83

4808 0.92 136.3 3396 977 2212 2078 454.8 10.6 325 4814 0.00 2.38 0.00 0.000 1030 0.000 0.052 3396 2384 2145 2213 2078 0 0 0 0 0 0 28.83 14.50 28.83

5126 0.92 136.3 3395 2384 2212 2078 419.9 10.9 343 5128 0.00 0.00 0.00 0.000 6 0.000 0.000 3395 2384 2145 2212 2078 0 0 0 0 0 0 28.83 28.83 28.83

5428 0.92 136.3 3395 2384 2212 2078 387.1 10.9 358 5433 0.00 2.40 0.00 0.000 516 0.000 0.061 3406 971 2145 2212 2078 0 0 0 0 0 0 28.83 14.58 28.83

5511 0.92 136.3 3406 971 2212 2078 377.7 11.2 374 5517 0.00 2.35 0.00 0.000 1030 0.000 0.053 3407 2377 2145 2212 2078 0 0 0 0 0 0 28.83 14.62 28.83

5834 0.92 136.3 3407 2377 2212 2078 340.3 11.8 393 5840 0.00 2.38 0.00 0.000 516 0.000 0.061 3416 980 2143 2208 2078 0 0 0 0 0 0 28.83 14.60 28.83

5878 0.92 136.3 3417 980 2211 2078 335.2 11.7 401 5883 0.00 2.33 0.00 0.000 1030 0.000 0.052 3416 2376 2144 2211 2078 0 0 0 0 0 0 28.83 14.63 28.83

6202 0.92 136.3 3417 2376 2211 2083 297.0 11.3 420 6203 0.00 0.00 0.00 0.000 6 0.000 0.000 3416 2377 2144 2211 2078 0 0 0 0 0 0 28.83 28.83 28.83

6503 0.92 136.3 3417 2376 2211 2078 263.0 11.3 435 6509 0.00 2.38 0.00 0.000 516 0.000 0.061 3426 976 2144 2211 2078 0 0 0 0 0 0 28.83 14.61 28.83

6581 0.92 136.3 3427 976 2212 2078 253.6 11.7 450 6588 0.12 2.35 0.00 0.000 5126 0.238 0.054 3397 2382 2144 2211 2078 0 0 0 0 0 0 14.41 14.64 28.83

6887 0.92 136.3 3397 2382 2211 2078 219.9 11.3 466 6892 0.00 2.42 0.00 0.000 260 0.000 0.081 3397 3780 2144 2211 2078 0 0 0 0 0 0 28.83 14.50 28.83

6931 0.92 136.3 3397 3780 2211 2078 214.5 12.6 474 6936 0.00 2.33 0.00 0.000 1030 0.000 0.047 3408 2363 2144 2211 2078 0 0 0 0 0 0 28.83 14.67 28.83

7254 0.92 136.3 3408 2361 2211 2078 180.1 10.3 493 7259 0.00 2.33 0.00 0.000 516 0.000 0.061 3418 979 2145 2211 2079 0 0 0 0 0 0 28.83 14.61 28.83

7352 0.92 136.3 3418 979 2211 2078 169.5 10.8 512 7359 0.00 2.35 0.00 0.000 1030 0.000 0.053 3418 2384 2144 2211 2078 0 0 0 0 0 0 28.83 14.62 28.83

7658 0.92 136.3 3418 2384 2211 2083 134.2 11.1 528 7663 0.00 2.38 0.00 0.000 516 0.000 0.060 3428 985 2144 2211 2077 0 0 0 0 0 0 28.83 14.54 28.83

7742 0.92 136.3 3427 985 2211 2078 125.6 10.1 544 7748 0.12 2.33 0.00 0.000 5126 0.236 0.053 3397 2377 2144 2210 2078 0 0 0 0 0 0 14.40 14.62 28.83

8076 0.95 145.8 3396 2374 2211 2078 96.7 8.7 559 8085 0.00 0.00 7.57 0.840 8198 0.000 0.000 3397 2381 2114 2181 2047 0 0 0 0 0 0 28.83 28.83 14.07

8376 0.96 151.5 3396 2377 2179 2046 70.1 8.9 569 8384 0.00 0.00 6.05 0.788 8198 0.000 0.000 3397 2377 2090 2156 2024 0 0 0 0 0 0 28.83 28.83 14.09

8676 1.09 210.8 3397 2377 2152 2021 50.0 6.5 579 8730 0.10 2.40 46.00 0.880 10756 0.165 0.063 3458 978 1845 1913 1778 0 0 0 0 0 0 14.71 14.62 14.12

8819 1.09 210.8 3458 978 1910 1777 37.0 10.6 607 8826 0.00 2.35 0.00 0.000 1030 0.000 0.054 3458 2374 1843 1910 1777 0 0 0 0 0 0 28.83 14.55 28.83

9134 1.09 210.8 3458 2374 1906 1775 2.7 11.3 631 9141 0.00 2.45 0.00 0.000 260 0.000 0.083 3458 3776 1840 1906 1775 0 0 0 0 0 0 28.83 14.52 28.83

9147 end climb: SURFACE_DEPTH_REACHED

state 9147 begin surface coast

9159 end surface coast: CONTROL_FINISHED_OK

state 9159 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	5
DIVE	393	ESCAPE_HEADING	120	C_ROLL_DIVE	2450	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2375	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
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	2
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	71	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	28	XPDR_VALID	1
D_BOOST	25	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.1
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	1	VBD_MIN	500	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	DEVICE1	-1
SURFACE_URGENCY	20	NOCOMM_ACTION	161	C_VBD	2709	DEVICE2	-1
SURFACE_URGENCY_TRY	10	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	20	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE4	-1
T_DIVE	360	CALL_TRIES	3	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	3	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	2	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	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	2	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	20

GPS1	221114,122334,6704.251,-5652.819,34,0.8,34,-32.6	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	2.29	MHEAD_RNG_PITCHd_Wd	202.1,4353,-17.5,-9.167,-20.44,2275
_SM_ANGLEo	-71.3	D_GRID	503
GPS2	221114,123020,6704.332,-5652.968,5,0.8,5,-32.6

FREEZE	1.45,1.070,-1.801,0,1,0	SC_FREEKB	3894272
FINISH	1.5,1.026321	_24V_AH	13.39,93.851
SM_CCo	9181,63.58,0.082,0,0,1281,350.04	_10V_AH	12.95,0.000
SM_GC	2.40,9.30,2.22,63.58,0.070,0.048,0.082,208,2446,1281,-8.97,1.75,350.04,0,0,0,0,0,0,14.57,14.68,14.55	FG_AHR_24Vo	0.000
RAFOS_CLK	-2	FG_AHR_10Vo	0.000
RAFOS	2,1416658637,12.300000,12.288055,61,55,54,53,53,52,156,142,217,184,170,196	MEM	143112
RAFOS_FIX	6706.063477,-5707.595703,221114,000056,2,84,6.22	DATA_FILE_SIZE	23409,635
IRIDIUM_FIX	6631.12,-5655.33,221114,092957	CAP_FILE_SIZE	108201,0
TT8_MAMPS	0.03745,0.03745	CFSIZE	1024409600,972210176
HUMID	41.77	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.60151	INTR	0,10594.44,0x23769e,7,5
TCM_TEMP	14.10	SOUNDSPEED	1473.1
XPDR_PINGS	0	CURRENT	0.407,329.83,1
ALTIM_TOP_PING	19.2,17.8	GPS	221114,150623,6704.828,-5655.474,24,0.8,24,-32.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	392	124.67	nil	0	0	0.00
Roll_motor	84	88	100.08	nil	0	0	0.00
VBD_pump_during_apogee	274	1445	5314.88	nil	0	0	0.00
VBD_pump_during_surface	63	81	69.68	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	9173	3	399.80
Iridium_during_xfer	243	141	460.63	nil	0	0	0.00
Transponder_ping	0	420	1.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	20	1.61
TT8	1449	24	463.53
LPSleep	6268	2	187.52
TT8_Active	473	23	146.97
TT8_Sampling	1259	42	695.77
TT8_CF8	227	56	165.76
TT8_Kalman	0	0	0.00
Analog_circuits	1267	15	246.21
GPS_charging	0	0	0.00
Compass	958	5	62.08
RAFOS	1080	1	20.98
Transponder	2	30	1.02

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	-0.92	-136.3	148	2449	1306	1230	0.0	0.0	0	82	0.00	0.00	-61.10	0.000	16386	0.000	0.000	147	2449	2817	2827	2808	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.92	-136.3	146	2449	2827	2809	3.2	-2.0	6	113	12.10	0.00	-10.90	0.000	18950	0.392	0.000	2788	2449	3267	3299	3235	0	0	0	0	0	0	14.19	28.83	14.79
430	-0.92	-136.3	2787	2449	3302	3234	60.9	-16.7	29	436	0.00	2.35	0.00	0.000	516	0.000	0.060	2788	1077	3268	3302	3234	0	0	0	0	0	0	28.83	14.52	28.83
518	-0.92	-136.3	2787	1077	3302	3234	75.2	-16.3	46	525	0.00	2.38	0.00	0.000	1030	0.000	0.060	2785	2456	3268	3302	3234	0	0	0	0	0	0	28.83	14.52	28.83
824	-0.92	-136.3	2786	2455	3301	3231	120.8	-14.2	57	829	0.00	2.35	0.00	0.000	260	0.000	0.089	2786	3785	3266	3301	3232	0	0	0	0	0	0	28.83	14.46	28.83
856	-0.92	-136.3	2786	3784	3301	3232	125.5	-14.5	63	863	0.00	2.17	0.00	0.000	1030	0.000	0.049	2786	2456	3266	3302	3231	0	0	0	0	0	0	28.83	14.64	28.83
1171	-0.92	-136.3	2786	2457	3301	3230	163.9	-12.0	80	1172	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2457	3266	3301	3231	0	0	0	0	0	0	28.83	28.83	28.83
1472	-0.92	-136.3	2786	2457	3301	3230	203.0	-12.4	95	1479	0.00	2.38	0.00	0.000	260	0.000	0.087	2786	3789	3265	3301	3230	0	0	0	0	0	0	28.83	14.50	28.83
1496	-0.92	-136.3	2786	3789	3301	3230	206.2	-12.4	99	1503	0.00	2.20	0.00	0.000	1030	0.000	0.048	2785	2442	3265	3301	3230	0	0	0	0	0	0	28.83	14.68	28.83
1821	-0.92	-136.3	2786	2442	3301	3230	246.0	-12.7	118	1822	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2442	3265	3301	3230	0	0	0	0	0	0	28.83	28.83	28.83
2122	-0.92	-136.3	2786	2442	3301	3230	280.6	-11.3	133	2128	0.00	2.38	0.00	0.000	260	0.000	0.086	2786	3781	3265	3300	3230	0	0	0	0	0	0	28.83	14.50	28.83
2182	-0.92	-136.3	2785	3781	3301	3230	287.5	-11.8	144	2188	0.00	2.17	0.00	0.000	1030	0.000	0.048	2786	2451	3266	3303	3230	0	0	0	0	0	0	28.83	14.69	28.83
2486	-0.92	-136.3	2786	2451	3302	3230	321.7	-11.1	160	2492	0.00	2.38	0.00	0.000	260	0.000	0.085	2785	3790	3266	3302	3231	0	0	0	0	0	0	28.83	14.50	28.83
2510	-0.92	-136.3	2786	3790	3302	3230	324.3	-10.9	164	2516	0.00	2.20	0.00	0.000	1030	0.000	0.047	2786	2442	3265	3301	3230	0	0	0	0	0	0	28.83	14.70	28.83
2834	-0.92	-136.3	2785	2438	3302	3231	360.5	-11.2	183	2840	0.00	2.38	0.00	0.000	260	0.000	0.085	2785	3781	3266	3302	3231	0	0	0	0	0	0	28.83	14.50	28.83
2858	-0.92	-136.3	2786	3781	3302	3230	363.2	-11.1	187	2864	0.00	2.17	0.00	0.000	1030	0.000	0.047	2785	2447	3267	3303	3231	0	0	0	0	0	0	28.83	14.69	28.83
3182	-0.92	-136.3	2786	2446	3303	3230	399.7	-11.0	206	3183	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2447	3267	3303	3231	0	0	0	0	0	0	28.83	28.83	28.83
3484	-0.92	-136.3	2785	2446	3304	3230	432.3	-10.6	221	3490	0.00	2.38	0.00	0.000	260	0.000	0.084	2785	3785	3267	3304	3231	0	0	0	0	0	0	28.83	14.50	28.83
3516	-0.92	-136.3	2785	3785	3304	3230	436.0	-10.3	227	3523	0.00	2.17	0.00	0.000	1030	0.000	0.048	2785	2451	3267	3304	3230	0	0	0	0	0	0	28.83	14.69	28.83
3831	-0.92	-136.3	2785	2451	3305	3230	469.8	-10.5	244	3832	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2450	3268	3305	3231	0	0	0	0	0	0	28.83	28.83	28.83
4132	-0.92	-136.3	2785	2451	3306	3231	501.2	-10.4	259	4139	0.00	2.38	0.00	0.000	260	0.000	0.086	2785	3789	3268	3305	3231	0	0	0	0	0	0	28.83	14.50	28.83
4148	end dive: TARGET_DEPTH_EXCEEDED
state	4148	begin apogee
4157	-0.18	0.0	2786	2378	3306	3231	503.4	-10.7	262	4272	0.88	0.00	107.47	1.445	10246	0.222	0.000	3030	2378	2704	2773	2636	0	0	0	0	0	0	14.29	28.83	13.61
4273	end apogee: CONTROL_FINISHED_OK
state	4273	begin climb
4276	0.92	136.3	3030	2378	2773	2636	506.1	0.0	268	4394	1.10	2.47	107.57	1.414	10756	0.150	0.061	3385	980	2150	2221	2079	0	0	0	0	0	0	14.22	14.04	13.39
4442	0.92	136.3	3386	980	2215	2078	493.9	10.9	298	4448	0.00	2.45	0.00	0.000	1030	0.000	0.052	3385	2390	2146	2214	2079	0	0	0	0	0	0	28.83	14.15	28.83
4761	0.92	136.3	3385	2390	2212	2078	460.0	10.5	316	4767	0.00	2.42	0.00	0.000	516	0.000	0.060	3395	977	2145	2212	2078	0	0	0	0	0	0	28.83	14.45	28.83
4808	0.92	136.3	3396	977	2212	2078	454.8	10.6	325	4814	0.00	2.38	0.00	0.000	1030	0.000	0.052	3396	2384	2145	2213	2078	0	0	0	0	0	0	28.83	14.50	28.83
5126	0.92	136.3	3395	2384	2212	2078	419.9	10.9	343	5128	0.00	0.00	0.00	0.000	6	0.000	0.000	3395	2384	2145	2212	2078	0	0	0	0	0	0	28.83	28.83	28.83
5428	0.92	136.3	3395	2384	2212	2078	387.1	10.9	358	5433	0.00	2.40	0.00	0.000	516	0.000	0.061	3406	971	2145	2212	2078	0	0	0	0	0	0	28.83	14.58	28.83
5511	0.92	136.3	3406	971	2212	2078	377.7	11.2	374	5517	0.00	2.35	0.00	0.000	1030	0.000	0.053	3407	2377	2145	2212	2078	0	0	0	0	0	0	28.83	14.62	28.83
5834	0.92	136.3	3407	2377	2212	2078	340.3	11.8	393	5840	0.00	2.38	0.00	0.000	516	0.000	0.061	3416	980	2143	2208	2078	0	0	0	0	0	0	28.83	14.60	28.83
5878	0.92	136.3	3417	980	2211	2078	335.2	11.7	401	5883	0.00	2.33	0.00	0.000	1030	0.000	0.052	3416	2376	2144	2211	2078	0	0	0	0	0	0	28.83	14.63	28.83
6202	0.92	136.3	3417	2376	2211	2083	297.0	11.3	420	6203	0.00	0.00	0.00	0.000	6	0.000	0.000	3416	2377	2144	2211	2078	0	0	0	0	0	0	28.83	28.83	28.83
6503	0.92	136.3	3417	2376	2211	2078	263.0	11.3	435	6509	0.00	2.38	0.00	0.000	516	0.000	0.061	3426	976	2144	2211	2078	0	0	0	0	0	0	28.83	14.61	28.83
6581	0.92	136.3	3427	976	2212	2078	253.6	11.7	450	6588	0.12	2.35	0.00	0.000	5126	0.238	0.054	3397	2382	2144	2211	2078	0	0	0	0	0	0	14.41	14.64	28.83
6887	0.92	136.3	3397	2382	2211	2078	219.9	11.3	466	6892	0.00	2.42	0.00	0.000	260	0.000	0.081	3397	3780	2144	2211	2078	0	0	0	0	0	0	28.83	14.50	28.83
6931	0.92	136.3	3397	3780	2211	2078	214.5	12.6	474	6936	0.00	2.33	0.00	0.000	1030	0.000	0.047	3408	2363	2144	2211	2078	0	0	0	0	0	0	28.83	14.67	28.83
7254	0.92	136.3	3408	2361	2211	2078	180.1	10.3	493	7259	0.00	2.33	0.00	0.000	516	0.000	0.061	3418	979	2145	2211	2079	0	0	0	0	0	0	28.83	14.61	28.83
7352	0.92	136.3	3418	979	2211	2078	169.5	10.8	512	7359	0.00	2.35	0.00	0.000	1030	0.000	0.053	3418	2384	2144	2211	2078	0	0	0	0	0	0	28.83	14.62	28.83
7658	0.92	136.3	3418	2384	2211	2083	134.2	11.1	528	7663	0.00	2.38	0.00	0.000	516	0.000	0.060	3428	985	2144	2211	2077	0	0	0	0	0	0	28.83	14.54	28.83
7742	0.92	136.3	3427	985	2211	2078	125.6	10.1	544	7748	0.12	2.33	0.00	0.000	5126	0.236	0.053	3397	2377	2144	2210	2078	0	0	0	0	0	0	14.40	14.62	28.83
8076	0.95	145.8	3396	2374	2211	2078	96.7	8.7	559	8085	0.00	0.00	7.57	0.840	8198	0.000	0.000	3397	2381	2114	2181	2047	0	0	0	0	0	0	28.83	28.83	14.07
8376	0.96	151.5	3396	2377	2179	2046	70.1	8.9	569	8384	0.00	0.00	6.05	0.788	8198	0.000	0.000	3397	2377	2090	2156	2024	0	0	0	0	0	0	28.83	28.83	14.09
8676	1.09	210.8	3397	2377	2152	2021	50.0	6.5	579	8730	0.10	2.40	46.00	0.880	10756	0.165	0.063	3458	978	1845	1913	1778	0	0	0	0	0	0	14.71	14.62	14.12
8819	1.09	210.8	3458	978	1910	1777	37.0	10.6	607	8826	0.00	2.35	0.00	0.000	1030	0.000	0.054	3458	2374	1843	1910	1777	0	0	0	0	0	0	28.83	14.55	28.83
9134	1.09	210.8	3458	2374	1906	1775	2.7	11.3	631	9141	0.00	2.45	0.00	0.000	260	0.000	0.083	3458	3776	1840	1906	1775	0	0	0	0	0	0	28.83	14.52	28.83
9147	end climb: SURFACE_DEPTH_REACHED
state	9147	begin surface coast
9159	end surface coast: CONTROL_FINISHED_OK
state	9159	begin surface