Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 397 * 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 397 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 59 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 30 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 59 VBD_DBAND 2

DEVICE4 -1 MISSION 3 R_STBD_OVSHOOT 30 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 397 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 221114,234304,6703.958,-5652.422,24,0.9,24,-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 2.14 MHEAD_RNG_PITCHd_Wd 190.3,3681,-17.5,-9.167,-20.44,2275

_SM_ANGLEo -71.5 D_GRID 512

GPS2 221114,234941,6703.965,-5652.458,6,0.8,6,-32.6

Post-dive calculations and measurements:

FREEZE 1.35,0.831,-1.591,0,1,0 SC_FREEKB 3892992

FINISH 1.3,1.023351 _24V_AH 13.40,94.539

SM_CCo 9398,65.28,0.082,0,0,1282,350.04 _10V_AH 12.94,0.000

SM_GC 2.07,9.40,0.10,65.28,0.079,0.154,0.082,209,2455,1282,-8.98,-1.07,350.04,0,0,0,0,0,0,14.48,14.58,14.54 FG_AHR_24Vo 0.000

RAFOS_CLK -6 FG_AHR_10Vo 0.000

RAFOS 0,1416700890,0.033333,0.025000,60,58,56,55,50,49,191,119,202,220,138,166 MEM 143120

RAFOS_FIX 6704.776855,-5701.207031,231114,000024,3,72,2.22 DATA_FILE_SIZE 26703,750

IRIDIUM_FIX 6631.12,-5652.31,221114,204615 CAP_FILE_SIZE 116940,0

TT8_MAMPS 0.038199,0.038199 CFSIZE 1024409600,971784192

HUMID 41.49 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.61127 INTR 1,4203.42,0x23769e,2,5

TCM_TEMP 14.40 SOUNDSPEED 1472.9

XPDR_PINGS 0 CURRENT 0.307,333.42,1

ALTIM_TOP_PING 19.2,18.4 GPS 231114,022952,6704.273,-5653.486,36,0.9,36,-32.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 403 129.09 nil 0 0 0.00

Roll_motor 93 153 192.60 nil 0 0 0.00

VBD_pump_during_apogee 268 1457 5251.12 nil 0 0 0.00

VBD_pump_during_surface 65 81 71.60 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 9392 3 415.82

Iridium_during_xfer 226 146 443.13 nil 0 0 0.00

Transponder_ping 0 420 1.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 20 1.83

TT8 1654 24 528.67

LPSleep 6100 2 182.35

TT8_Active 471 23 146.18

TT8_Sampling 1423 42 785.74

TT8_CF8 250 56 181.99

TT8_Kalman 0 0 0.00

Analog_circuits 1335 15 259.30

GPS_charging 0 0 0.00

Compass 1123 5 72.67

RAFOS 2520 1 48.91

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 -136.3 170 2447 1307 1233 0.0 0.0 0 93 0.00 0.00 -71.18 0.000 16386 0.000 0.000 167 2448 3078 3083 3073 0 0 0 0 0 0 28.83 28.83 28.83

96 -0.92 -136.3 167 2448 3085 3072 3.8 -3.1 7 119 12.27 2.38 -3.75 0.000 18948 0.404 0.078 2787 1059 3267 3290 3244 0 0 0 0 0 0 14.18 14.50 14.78

347 -0.92 -136.3 2788 1058 3294 3242 52.0 -16.6 56 353 0.00 2.40 0.00 0.000 1030 0.000 0.060 2786 2456 3268 3294 3242 0 0 0 0 0 0 28.83 14.48 28.83

679 -0.92 -136.3 2786 2455 3294 3239 101.5 -15.2 71 684 0.00 2.40 0.00 0.000 516 0.000 0.060 2786 1060 3266 3294 3239 0 0 0 0 0 0 28.83 14.54 28.83

808 -0.92 -136.3 2787 1060 3295 3238 120.8 -14.4 96 813 0.00 2.38 0.00 0.000 1030 0.000 0.059 2786 2448 3266 3294 3238 0 0 0 0 0 0 28.83 14.55 28.83

1126 -0.92 -136.3 2786 2449 3294 3237 161.7 -12.1 114 1133 0.00 2.38 0.00 0.000 260 0.000 0.088 2786 3784 3266 3295 3237 0 0 0 0 0 0 28.83 14.50 28.83

1200 -0.92 -136.3 2786 3784 3294 3237 171.3 -13.0 128 1206 0.00 2.20 0.00 0.000 1030 0.000 0.050 2786 2448 3265 3294 3237 0 0 0 0 0 0 28.83 14.65 28.83

1514 -0.92 -136.3 2786 2446 3294 3236 208.9 -12.4 145 1520 0.00 2.40 0.00 0.000 260 0.000 0.087 2786 3790 3265 3294 3237 0 0 0 0 0 0 28.83 14.48 28.83

1538 -0.92 -136.3 2786 3790 3294 3236 212.2 -13.0 149 1545 0.00 2.20 0.00 0.000 1030 0.000 0.049 2786 2444 3265 3294 3237 0 0 0 0 0 0 28.83 14.68 28.83

1862 -0.92 -136.3 2786 2444 3294 3232 250.1 -11.7 168 1868 0.00 2.40 0.00 0.000 260 0.000 0.086 2786 3785 3265 3294 3237 0 0 0 0 0 0 28.83 14.50 28.83

1941 -0.92 -136.3 2786 3783 3295 3237 259.8 -11.8 183 1948 0.00 2.20 0.00 0.000 1030 0.000 0.048 2786 2441 3265 3294 3237 0 0 0 0 0 0 28.83 14.66 28.83

2246 -0.92 -136.3 2786 2441 3294 3237 294.8 -12.0 199 2251 0.00 2.33 0.00 0.000 516 0.000 0.059 2786 1065 3266 3295 3237 0 0 0 0 0 0 28.83 14.58 28.83

2264 -0.92 -136.3 2786 1065 3295 3237 297.0 -11.8 202 2271 0.00 2.38 0.00 0.000 1030 0.000 0.057 2786 2461 3265 3294 3237 0 0 0 0 0 0 28.83 14.59 28.83

2572 -0.92 -136.3 2786 2461 3295 3237 330.9 -11.0 218 2578 0.00 2.33 0.00 0.000 260 0.000 0.085 2785 3786 3266 3296 3237 0 0 0 0 0 0 28.83 14.52 28.83

2596 -0.92 -136.3 2786 3787 3296 3237 334.1 -12.1 222 2602 0.00 2.20 0.00 0.000 1030 0.000 0.047 2786 2440 3265 3294 3237 0 0 0 0 0 0 28.83 14.68 28.83

2920 -0.92 -136.3 2786 2440 3296 3237 369.8 -11.1 241 2926 0.00 2.38 0.00 0.000 260 0.000 0.085 2786 3780 3266 3296 3237 0 0 0 0 0 0 28.83 14.50 28.83

2932 -0.92 -136.3 2786 3780 3296 3237 371.2 -10.8 243 2940 0.00 2.15 0.00 0.000 1030 0.000 0.047 2786 2446 3267 3297 3237 0 0 0 0 0 0 28.83 14.66 28.83

3248 -0.92 -136.3 2786 2446 3297 3237 407.1 -11.3 260 3249 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2446 3265 3296 3234 0 0 0 0 0 0 28.83 28.83 28.83

3548 -0.92 -136.3 2786 2446 3297 3237 440.9 -11.2 275 3554 0.00 2.40 0.00 0.000 260 0.000 0.084 2786 3784 3266 3297 3236 0 0 0 0 0 0 28.83 14.50 28.83

3612 -0.92 -136.3 2786 3784 3297 3237 448.3 -12.1 287 3617 0.00 2.17 0.00 0.000 1030 0.000 0.047 2786 2450 3264 3292 3236 0 0 0 0 0 0 28.83 14.69 28.83

3935 -0.92 -136.3 2786 2449 3298 3237 484.0 -10.8 306 3941 0.00 2.35 0.00 0.000 260 0.000 0.084 2785 3781 3267 3298 3237 0 0 0 0 0 0 28.83 14.50 28.83

3968 -0.92 -136.3 2786 3781 3298 3237 487.7 -11.4 312 3974 0.00 2.20 0.00 0.000 1030 0.000 0.047 2786 2442 3267 3298 3237 0 0 0 0 0 0 28.83 14.68 28.83

4201 end dive: TARGET_DEPTH_EXCEEDED

state 4201 begin apogee

4207 -0.18 0.0 2786 2442 3300 3236 513.1 -10.9 325 4322 0.80 0.00 107.10 1.457 10246 0.143 0.000 3040 2442 2704 2773 2636 0 0 0 0 0 0 14.45 28.83 13.60

4323 end apogee: CONTROL_FINISHED_OK

state 4323 begin climb

4326 0.92 136.3 3040 2442 2772 2636 513.2 0.0 331 4443 1.02 2.60 107.53 1.424 10756 0.135 0.059 3380 1001 2149 2221 2078 0 0 0 0 0 0 14.23 14.03 13.40

4646 0.93 137.8 3380 1001 2213 2078 487.3 9.1 394 4653 0.00 2.38 0.00 0.000 1030 0.000 0.052 3380 2382 2145 2213 2078 0 0 0 0 0 0 28.83 14.36 28.83

4952 0.93 137.8 3380 2383 2212 2078 456.4 10.6 410 4953 0.00 0.00 0.00 0.000 6 0.000 0.000 3380 2382 2145 2212 2078 0 0 0 0 0 0 28.83 28.83 28.83

5253 0.93 137.8 3380 2382 2212 2078 425.5 10.2 425 5259 0.00 2.38 0.00 0.000 516 0.000 0.062 3390 994 2145 2212 2078 0 0 0 0 0 0 28.83 14.57 28.83

5311 0.93 137.8 3390 994 2213 2078 419.2 10.5 436 5318 0.00 2.33 0.00 0.000 1030 0.000 0.053 3390 2381 2145 2212 2078 0 0 0 0 0 0 28.83 14.59 28.83

5617 0.93 137.8 3391 2381 2212 2078 386.0 11.3 452 5622 0.00 2.35 0.00 0.000 516 0.000 0.061 3399 1000 2144 2212 2077 0 0 0 0 0 0 28.83 14.59 28.83

5680 0.93 137.8 3399 1000 2212 2078 378.7 11.6 464 5686 0.00 2.33 0.00 0.000 1030 0.000 0.052 3399 2379 2145 2212 2078 0 0 0 0 0 0 28.83 14.62 28.83

6004 0.93 137.8 3399 2379 2211 2078 340.6 11.6 483 6009 0.00 2.35 0.00 0.000 516 0.000 0.060 3410 998 2148 2212 2085 0 0 0 0 0 0 28.83 14.60 28.83

6047 0.93 137.8 3410 999 2212 2078 335.6 11.9 491 6052 0.00 2.30 0.00 0.000 1030 0.000 0.052 3410 2376 2144 2211 2078 0 0 0 0 0 0 28.83 14.63 28.83

6371 0.93 137.8 3410 2376 2211 2078 296.6 12.0 510 6376 0.00 2.35 0.00 0.000 516 0.000 0.060 3421 999 2145 2212 2078 0 0 0 0 0 0 28.83 14.60 28.83

6395 0.93 137.8 3421 998 2212 2078 293.6 12.3 514 6401 0.00 2.30 0.00 0.000 1030 0.000 0.052 3421 2378 2145 2212 2078 0 0 0 0 0 0 28.83 14.64 28.83

6718 0.93 137.8 3426 2378 2211 2078 256.4 11.5 533 6725 0.00 2.38 0.00 0.000 516 0.000 0.060 3431 994 2144 2210 2078 0 0 0 0 0 0 28.83 14.60 28.83

6747 0.93 137.8 3431 994 2211 2078 252.9 11.4 538 6754 0.15 2.30 0.00 0.000 5126 0.232 0.050 3394 2375 2145 2212 2078 0 0 0 0 0 0 14.39 14.64 28.83

7066 0.93 137.8 3394 2375 2211 2078 218.8 10.5 556 7068 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 2374 2144 2211 2078 0 0 0 0 0 0 28.83 28.83 28.83

7368 0.93 137.8 3394 2375 2212 2078 190.6 9.5 571 7374 0.00 2.45 0.00 0.000 260 0.000 0.081 3394 3777 2144 2211 2078 0 0 0 0 0 0 28.83 14.54 28.83

7451 0.93 137.8 3395 3777 2211 2078 180.8 12.1 587 7457 0.00 2.28 0.00 0.000 1030 0.000 0.046 3405 2386 2145 2212 2078 0 0 0 0 0 0 28.83 14.69 28.83

7775 0.93 137.8 3405 2383 2212 2078 146.1 11.0 606 7780 0.00 2.38 0.00 0.000 516 0.000 0.061 3415 987 2144 2211 2078 0 0 0 0 0 0 28.83 14.59 28.83

7884 0.93 137.8 3415 986 2212 2078 134.7 10.3 627 7889 0.00 2.33 0.00 0.000 1030 0.000 0.053 3414 2376 2145 2212 2078 0 0 0 0 0 0 28.83 14.62 28.83

8194 0.93 137.8 3414 2375 2212 2078 105.4 9.3 642 8196 0.00 0.00 0.00 0.000 6 0.000 0.000 3415 2376 2145 2212 2078 0 0 0 0 0 0 28.83 28.83 28.83

8492 0.93 137.8 3414 2376 2211 2078 77.7 9.4 652 8498 0.00 2.38 0.00 0.000 516 0.000 0.061 3423 984 2144 2211 2078 0 0 0 0 0 0 28.83 14.60 28.83

8591 0.93 137.8 3425 984 2212 2078 68.3 9.7 671 8597 0.12 2.33 0.00 0.000 5126 0.234 0.053 3394 2375 2143 2212 2075 0 0 0 0 0 0 14.39 14.62 28.83

8921 1.05 194.1 3394 2375 2212 2078 43.9 6.6 686 8974 0.08 2.40 43.78 0.868 10756 0.222 0.061 3449 990 1913 1980 1846 0 0 0 0 0 0 14.68 14.64 14.12

9092 1.08 207.9 3448 990 1975 1846 29.6 8.5 720 9109 0.00 2.33 10.50 0.803 9222 0.000 0.052 3449 2375 1858 1925 1791 0 0 0 0 0 0 28.83 14.55 14.03

9366 end climb: SURFACE_DEPTH_REACHED

state 9367 begin surface coast

9377 end surface coast: CONTROL_FINISHED_OK

state 9377 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	397	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	59	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	30	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	221114,234304,6703.958,-5652.422,24,0.9,24,-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	2.14	MHEAD_RNG_PITCHd_Wd	190.3,3681,-17.5,-9.167,-20.44,2275
_SM_ANGLEo	-71.5	D_GRID	512
GPS2	221114,234941,6703.965,-5652.458,6,0.8,6,-32.6

FREEZE	1.35,0.831,-1.591,0,1,0	SC_FREEKB	3892992
FINISH	1.3,1.023351	_24V_AH	13.40,94.539
SM_CCo	9398,65.28,0.082,0,0,1282,350.04	_10V_AH	12.94,0.000
SM_GC	2.07,9.40,0.10,65.28,0.079,0.154,0.082,209,2455,1282,-8.98,-1.07,350.04,0,0,0,0,0,0,14.48,14.58,14.54	FG_AHR_24Vo	0.000
RAFOS_CLK	-6	FG_AHR_10Vo	0.000
RAFOS	0,1416700890,0.033333,0.025000,60,58,56,55,50,49,191,119,202,220,138,166	MEM	143120
RAFOS_FIX	6704.776855,-5701.207031,231114,000024,3,72,2.22	DATA_FILE_SIZE	26703,750
IRIDIUM_FIX	6631.12,-5652.31,221114,204615	CAP_FILE_SIZE	116940,0
TT8_MAMPS	0.038199,0.038199	CFSIZE	1024409600,971784192
HUMID	41.49	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.61127	INTR	1,4203.42,0x23769e,2,5
TCM_TEMP	14.40	SOUNDSPEED	1472.9
XPDR_PINGS	0	CURRENT	0.307,333.42,1
ALTIM_TOP_PING	19.2,18.4	GPS	231114,022952,6704.273,-5653.486,36,0.9,36,-32.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	403	129.09	nil	0	0	0.00
Roll_motor	93	153	192.60	nil	0	0	0.00
VBD_pump_during_apogee	268	1457	5251.12	nil	0	0	0.00
VBD_pump_during_surface	65	81	71.60	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	9392	3	415.82
Iridium_during_xfer	226	146	443.13	nil	0	0	0.00
Transponder_ping	0	420	1.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	20	1.83
TT8	1654	24	528.67
LPSleep	6100	2	182.35
TT8_Active	471	23	146.18
TT8_Sampling	1423	42	785.74
TT8_CF8	250	56	181.99
TT8_Kalman	0	0	0.00
Analog_circuits	1335	15	259.30
GPS_charging	0	0	0.00
Compass	1123	5	72.67
RAFOS	2520	1	48.91
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	170	2447	1307	1233	0.0	0.0	0	93	0.00	0.00	-71.18	0.000	16386	0.000	0.000	167	2448	3078	3083	3073	0	0	0	0	0	0	28.83	28.83	28.83
96	-0.92	-136.3	167	2448	3085	3072	3.8	-3.1	7	119	12.27	2.38	-3.75	0.000	18948	0.404	0.078	2787	1059	3267	3290	3244	0	0	0	0	0	0	14.18	14.50	14.78
347	-0.92	-136.3	2788	1058	3294	3242	52.0	-16.6	56	353	0.00	2.40	0.00	0.000	1030	0.000	0.060	2786	2456	3268	3294	3242	0	0	0	0	0	0	28.83	14.48	28.83
679	-0.92	-136.3	2786	2455	3294	3239	101.5	-15.2	71	684	0.00	2.40	0.00	0.000	516	0.000	0.060	2786	1060	3266	3294	3239	0	0	0	0	0	0	28.83	14.54	28.83
808	-0.92	-136.3	2787	1060	3295	3238	120.8	-14.4	96	813	0.00	2.38	0.00	0.000	1030	0.000	0.059	2786	2448	3266	3294	3238	0	0	0	0	0	0	28.83	14.55	28.83
1126	-0.92	-136.3	2786	2449	3294	3237	161.7	-12.1	114	1133	0.00	2.38	0.00	0.000	260	0.000	0.088	2786	3784	3266	3295	3237	0	0	0	0	0	0	28.83	14.50	28.83
1200	-0.92	-136.3	2786	3784	3294	3237	171.3	-13.0	128	1206	0.00	2.20	0.00	0.000	1030	0.000	0.050	2786	2448	3265	3294	3237	0	0	0	0	0	0	28.83	14.65	28.83
1514	-0.92	-136.3	2786	2446	3294	3236	208.9	-12.4	145	1520	0.00	2.40	0.00	0.000	260	0.000	0.087	2786	3790	3265	3294	3237	0	0	0	0	0	0	28.83	14.48	28.83
1538	-0.92	-136.3	2786	3790	3294	3236	212.2	-13.0	149	1545	0.00	2.20	0.00	0.000	1030	0.000	0.049	2786	2444	3265	3294	3237	0	0	0	0	0	0	28.83	14.68	28.83
1862	-0.92	-136.3	2786	2444	3294	3232	250.1	-11.7	168	1868	0.00	2.40	0.00	0.000	260	0.000	0.086	2786	3785	3265	3294	3237	0	0	0	0	0	0	28.83	14.50	28.83
1941	-0.92	-136.3	2786	3783	3295	3237	259.8	-11.8	183	1948	0.00	2.20	0.00	0.000	1030	0.000	0.048	2786	2441	3265	3294	3237	0	0	0	0	0	0	28.83	14.66	28.83
2246	-0.92	-136.3	2786	2441	3294	3237	294.8	-12.0	199	2251	0.00	2.33	0.00	0.000	516	0.000	0.059	2786	1065	3266	3295	3237	0	0	0	0	0	0	28.83	14.58	28.83
2264	-0.92	-136.3	2786	1065	3295	3237	297.0	-11.8	202	2271	0.00	2.38	0.00	0.000	1030	0.000	0.057	2786	2461	3265	3294	3237	0	0	0	0	0	0	28.83	14.59	28.83
2572	-0.92	-136.3	2786	2461	3295	3237	330.9	-11.0	218	2578	0.00	2.33	0.00	0.000	260	0.000	0.085	2785	3786	3266	3296	3237	0	0	0	0	0	0	28.83	14.52	28.83
2596	-0.92	-136.3	2786	3787	3296	3237	334.1	-12.1	222	2602	0.00	2.20	0.00	0.000	1030	0.000	0.047	2786	2440	3265	3294	3237	0	0	0	0	0	0	28.83	14.68	28.83
2920	-0.92	-136.3	2786	2440	3296	3237	369.8	-11.1	241	2926	0.00	2.38	0.00	0.000	260	0.000	0.085	2786	3780	3266	3296	3237	0	0	0	0	0	0	28.83	14.50	28.83
2932	-0.92	-136.3	2786	3780	3296	3237	371.2	-10.8	243	2940	0.00	2.15	0.00	0.000	1030	0.000	0.047	2786	2446	3267	3297	3237	0	0	0	0	0	0	28.83	14.66	28.83
3248	-0.92	-136.3	2786	2446	3297	3237	407.1	-11.3	260	3249	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2446	3265	3296	3234	0	0	0	0	0	0	28.83	28.83	28.83
3548	-0.92	-136.3	2786	2446	3297	3237	440.9	-11.2	275	3554	0.00	2.40	0.00	0.000	260	0.000	0.084	2786	3784	3266	3297	3236	0	0	0	0	0	0	28.83	14.50	28.83
3612	-0.92	-136.3	2786	3784	3297	3237	448.3	-12.1	287	3617	0.00	2.17	0.00	0.000	1030	0.000	0.047	2786	2450	3264	3292	3236	0	0	0	0	0	0	28.83	14.69	28.83
3935	-0.92	-136.3	2786	2449	3298	3237	484.0	-10.8	306	3941	0.00	2.35	0.00	0.000	260	0.000	0.084	2785	3781	3267	3298	3237	0	0	0	0	0	0	28.83	14.50	28.83
3968	-0.92	-136.3	2786	3781	3298	3237	487.7	-11.4	312	3974	0.00	2.20	0.00	0.000	1030	0.000	0.047	2786	2442	3267	3298	3237	0	0	0	0	0	0	28.83	14.68	28.83
4201	end dive: TARGET_DEPTH_EXCEEDED
state	4201	begin apogee
4207	-0.18	0.0	2786	2442	3300	3236	513.1	-10.9	325	4322	0.80	0.00	107.10	1.457	10246	0.143	0.000	3040	2442	2704	2773	2636	0	0	0	0	0	0	14.45	28.83	13.60
4323	end apogee: CONTROL_FINISHED_OK
state	4323	begin climb
4326	0.92	136.3	3040	2442	2772	2636	513.2	0.0	331	4443	1.02	2.60	107.53	1.424	10756	0.135	0.059	3380	1001	2149	2221	2078	0	0	0	0	0	0	14.23	14.03	13.40
4646	0.93	137.8	3380	1001	2213	2078	487.3	9.1	394	4653	0.00	2.38	0.00	0.000	1030	0.000	0.052	3380	2382	2145	2213	2078	0	0	0	0	0	0	28.83	14.36	28.83
4952	0.93	137.8	3380	2383	2212	2078	456.4	10.6	410	4953	0.00	0.00	0.00	0.000	6	0.000	0.000	3380	2382	2145	2212	2078	0	0	0	0	0	0	28.83	28.83	28.83
5253	0.93	137.8	3380	2382	2212	2078	425.5	10.2	425	5259	0.00	2.38	0.00	0.000	516	0.000	0.062	3390	994	2145	2212	2078	0	0	0	0	0	0	28.83	14.57	28.83
5311	0.93	137.8	3390	994	2213	2078	419.2	10.5	436	5318	0.00	2.33	0.00	0.000	1030	0.000	0.053	3390	2381	2145	2212	2078	0	0	0	0	0	0	28.83	14.59	28.83
5617	0.93	137.8	3391	2381	2212	2078	386.0	11.3	452	5622	0.00	2.35	0.00	0.000	516	0.000	0.061	3399	1000	2144	2212	2077	0	0	0	0	0	0	28.83	14.59	28.83
5680	0.93	137.8	3399	1000	2212	2078	378.7	11.6	464	5686	0.00	2.33	0.00	0.000	1030	0.000	0.052	3399	2379	2145	2212	2078	0	0	0	0	0	0	28.83	14.62	28.83
6004	0.93	137.8	3399	2379	2211	2078	340.6	11.6	483	6009	0.00	2.35	0.00	0.000	516	0.000	0.060	3410	998	2148	2212	2085	0	0	0	0	0	0	28.83	14.60	28.83
6047	0.93	137.8	3410	999	2212	2078	335.6	11.9	491	6052	0.00	2.30	0.00	0.000	1030	0.000	0.052	3410	2376	2144	2211	2078	0	0	0	0	0	0	28.83	14.63	28.83
6371	0.93	137.8	3410	2376	2211	2078	296.6	12.0	510	6376	0.00	2.35	0.00	0.000	516	0.000	0.060	3421	999	2145	2212	2078	0	0	0	0	0	0	28.83	14.60	28.83
6395	0.93	137.8	3421	998	2212	2078	293.6	12.3	514	6401	0.00	2.30	0.00	0.000	1030	0.000	0.052	3421	2378	2145	2212	2078	0	0	0	0	0	0	28.83	14.64	28.83
6718	0.93	137.8	3426	2378	2211	2078	256.4	11.5	533	6725	0.00	2.38	0.00	0.000	516	0.000	0.060	3431	994	2144	2210	2078	0	0	0	0	0	0	28.83	14.60	28.83
6747	0.93	137.8	3431	994	2211	2078	252.9	11.4	538	6754	0.15	2.30	0.00	0.000	5126	0.232	0.050	3394	2375	2145	2212	2078	0	0	0	0	0	0	14.39	14.64	28.83
7066	0.93	137.8	3394	2375	2211	2078	218.8	10.5	556	7068	0.00	0.00	0.00	0.000	6	0.000	0.000	3394	2374	2144	2211	2078	0	0	0	0	0	0	28.83	28.83	28.83
7368	0.93	137.8	3394	2375	2212	2078	190.6	9.5	571	7374	0.00	2.45	0.00	0.000	260	0.000	0.081	3394	3777	2144	2211	2078	0	0	0	0	0	0	28.83	14.54	28.83
7451	0.93	137.8	3395	3777	2211	2078	180.8	12.1	587	7457	0.00	2.28	0.00	0.000	1030	0.000	0.046	3405	2386	2145	2212	2078	0	0	0	0	0	0	28.83	14.69	28.83
7775	0.93	137.8	3405	2383	2212	2078	146.1	11.0	606	7780	0.00	2.38	0.00	0.000	516	0.000	0.061	3415	987	2144	2211	2078	0	0	0	0	0	0	28.83	14.59	28.83
7884	0.93	137.8	3415	986	2212	2078	134.7	10.3	627	7889	0.00	2.33	0.00	0.000	1030	0.000	0.053	3414	2376	2145	2212	2078	0	0	0	0	0	0	28.83	14.62	28.83
8194	0.93	137.8	3414	2375	2212	2078	105.4	9.3	642	8196	0.00	0.00	0.00	0.000	6	0.000	0.000	3415	2376	2145	2212	2078	0	0	0	0	0	0	28.83	28.83	28.83
8492	0.93	137.8	3414	2376	2211	2078	77.7	9.4	652	8498	0.00	2.38	0.00	0.000	516	0.000	0.061	3423	984	2144	2211	2078	0	0	0	0	0	0	28.83	14.60	28.83
8591	0.93	137.8	3425	984	2212	2078	68.3	9.7	671	8597	0.12	2.33	0.00	0.000	5126	0.234	0.053	3394	2375	2143	2212	2075	0	0	0	0	0	0	14.39	14.62	28.83
8921	1.05	194.1	3394	2375	2212	2078	43.9	6.6	686	8974	0.08	2.40	43.78	0.868	10756	0.222	0.061	3449	990	1913	1980	1846	0	0	0	0	0	0	14.68	14.64	14.12
9092	1.08	207.9	3448	990	1975	1846	29.6	8.5	720	9109	0.00	2.33	10.50	0.803	9222	0.000	0.052	3449	2375	1858	1925	1791	0	0	0	0	0	0	28.83	14.55	14.03
9366	end climb: SURFACE_DEPTH_REACHED
state	9367	begin surface coast
9377	end surface coast: CONTROL_FINISHED_OK
state	9377	begin surface