Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 63 * 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 63 ESCAPE_HEADING 0 C_ROLL_DIVE 2450 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2350 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 47 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 31 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 -2 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 2350 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 -2

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 47 VBD_DBAND 2

DEVICE4 -1 MISSION 3 R_STBD_OVSHOOT 31 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 63 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 280914,113128,6640.608,-6010.703,33,0.8,33,-32.8 SPEED_LIMITS 0.109,0.246

_CALLS 1 TGT_NAME TARGET_W

_XMS_NAKs 0 TGT_LATLONG 6644.000,-6026.000

_XMS_TOUTs 0 TGT_RADIUS 10000.000

_SM_DEPTHo 2.12 MHEAD_RNG_PITCHd_Wd 16.8,12849,-17.5,-9.167,-20.44,2275

_SM_ANGLEo -72.1 D_GRID 553

GPS2 280914,113737,6640.635,-6010.641,5,1.0,5,-32.8

Post-dive calculations and measurements:

EKF 10071,4001.974609,-3611.522949,1.227264,1.026325,-0.426284,-0.027121,0.000141,0.000898,0.000099,0.002025,0.002025,0.000050 _24V_AH 13.30,19.519

FINISH 1.2,1.003162 _10V_AH 12.88,0.000

SM_CCo 9924,40.33,0.096,0,0,1282,350.04 FG_AHR_24Vo 0.000

SM_GC 2.16,9.70,0.15,40.33,0.106,0.144,0.096,212,2455,1282,-8.97,-0.93,350.04,0,0,0,0,0,0,14.64,14.68,14.64 FG_AHR_10Vo 0.000

RAFOS_CLK -69 MEM 143168

RAFOS 0,1411905663,12.033333,12.017500,119,66,61,58,56,50,599,191,220,208,140,175 DATA_FILE_SIZE 26723,753

RAFOS_FIX 6639.538086,-6010.782715,280914,121220,4,117,0.78 CAP_FILE_SIZE 116737,0

IRIDIUM_FIX 6609.62,-6013.96,280914,083828 CFSIZE 1024409600,1010270208

TT8_MAMPS 0.038199,0.038199 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 44.92 INTR 0,10568.19,0x23769e,7,5

INTERNAL_PRESSURE 8.49408 SOUNDSPEED 1452.9

TCM_TEMP 12.40 CURRENT 0.136,308.41,1

XPDR_PINGS 0 GPS 280914,142559,6642.532,-6013.099,35,0.8,35,-32.9

SC_FREEKB 3999904

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 429 140.66 nil 0 0 0.00

Roll_motor 91 143 175.40 nil 0 0 0.00

VBD_pump_during_apogee 303 1567 6322.54 nil 0 0 0.00

VBD_pump_during_surface 40 96 51.70 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 9913 3 429.81

Iridium_during_xfer 249 166 553.96 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 20 1.82

TT8 2286 24 727.46

LPSleep 5996 2 178.41

TT8_Active 536 23 165.57

TT8_Sampling 1464 42 805.03

TT8_CF8 79 56 57.36

TT8_Kalman 0 0 0.00

Analog_circuits 1408 15 272.14

GPS_charging 0 0 0.00

Compass 1117 5 71.99

RAFOS 2520 1 48.69

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 -136.3 188 2457 1302 1229 0.0 0.0 0 83 0.00 0.00 -63.90 0.000 16386 0.000 0.000 185 2458 2877 2880 2874 0 0 0 0 0 0 28.83 28.83 28.83

85 -0.92 -136.3 185 2458 2881 2874 3.6 -3.2 6 113 12.50 2.40 -7.85 0.000 18692 0.430 0.130 2786 3776 3265 3291 3240 0 0 0 0 0 0 14.30 14.45 14.69

215 -0.92 -136.3 2786 3776 3295 3239 34.0 -19.9 29 221 0.00 2.28 0.00 0.000 1030 0.000 0.067 2786 2444 3267 3295 3239 0 0 0 0 0 0 28.83 14.55 28.83

529 -0.92 -136.3 2786 2443 3298 3239 82.9 -15.7 41 536 0.00 2.40 0.00 0.000 516 0.000 0.079 2786 1053 3268 3298 3239 0 0 0 0 0 0 28.83 14.60 28.83

761 -0.92 -136.3 2786 1053 3300 3240 121.8 -15.6 85 768 0.00 2.42 0.00 0.000 1030 0.000 0.080 2785 2448 3269 3300 3239 0 0 0 0 0 0 28.83 14.63 28.83

1085 -0.92 -136.3 2785 2448 3300 3240 168.9 -14.2 104 1092 0.00 2.40 0.00 0.000 260 0.000 0.110 2785 3786 3269 3300 3239 0 0 0 0 0 0 28.83 14.64 28.83

1159 -0.92 -136.3 2785 3786 3300 3239 180.0 -14.5 118 1167 0.00 2.28 0.00 0.000 1030 0.000 0.068 2785 2440 3269 3300 3239 0 0 0 0 0 0 28.83 14.70 28.83

1476 -0.92 -136.3 2786 2439 3300 3239 222.6 -13.0 135 1482 0.00 2.40 0.00 0.000 516 0.000 0.080 2785 1050 3269 3300 3239 0 0 0 0 0 0 28.83 14.71 28.83

1543 -0.92 -136.3 2786 1051 3301 3238 232.1 -14.5 147 1550 0.00 2.42 0.00 0.000 1030 0.000 0.081 2785 2451 3269 3300 3238 0 0 0 0 0 0 28.83 14.69 28.83

1870 -0.92 -136.3 2786 2450 3300 3237 275.3 -12.8 166 1878 0.00 2.42 0.00 0.000 516 0.000 0.080 2786 1053 3268 3300 3237 0 0 0 0 0 0 28.83 14.71 28.83

1904 -0.92 -136.3 2785 1053 3300 3238 280.1 -13.1 172 1911 0.00 2.42 0.00 0.000 1030 0.000 0.080 2785 2456 3268 3300 3237 0 0 0 0 0 0 28.83 14.71 28.83

2218 -0.92 -136.3 2785 2456 3301 3236 318.3 -12.2 189 2225 0.00 2.38 0.00 0.000 260 0.000 0.110 2785 3784 3268 3300 3236 0 0 0 0 0 0 28.83 14.69 28.83

2277 -0.92 -136.3 2785 3784 3301 3236 325.7 -12.2 200 2285 0.00 2.25 0.00 0.000 1030 0.000 0.069 2787 2447 3266 3300 3233 0 0 0 0 0 0 28.83 14.75 28.83

2583 -0.92 -136.3 2785 2448 3300 3235 362.9 -12.1 216 2585 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2448 3268 3300 3236 0 0 0 0 0 0 28.83 28.83 28.83

2884 -0.92 -136.3 2785 2448 3298 3236 399.4 -12.0 231 2891 0.00 2.38 0.00 0.000 516 0.000 0.079 2786 1058 3268 3300 3236 0 0 0 0 0 0 28.83 14.73 28.83

2930 -0.92 -136.3 2785 1059 3300 3236 405.2 -12.6 239 2937 0.00 2.40 0.00 0.000 1030 0.000 0.079 2785 2451 3268 3300 3236 0 0 0 0 0 0 28.83 14.73 28.83

3255 -0.92 -136.3 2785 2451 3300 3235 444.8 -12.2 258 3256 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2451 3267 3301 3233 0 0 0 0 0 0 28.83 28.83 28.83

3555 -0.92 -136.3 2784 2451 3300 3235 481.2 -11.9 273 3561 0.00 2.38 0.00 0.000 260 0.000 0.106 2785 3788 3267 3300 3235 0 0 0 0 0 0 28.83 14.71 28.83

3640 -0.92 -136.3 2786 3788 3300 3235 491.9 -11.5 289 3647 0.00 2.25 0.00 0.000 1030 0.000 0.067 2785 2445 3267 3300 3235 0 0 0 0 0 0 28.83 14.78 28.83

3964 -0.92 -136.3 2785 2445 3300 3235 527.9 -10.5 308 3965 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2445 3267 3300 3235 0 0 0 0 0 0 28.83 28.83 28.83

4203 end dive: TARGET_DEPTH_EXCEEDED

state 4203 begin apogee

4207 -0.18 0.0 2785 2350 3300 3236 554.7 -12.1 320 4325 0.90 0.00 109.30 1.567 10246 0.264 0.000 3029 2350 2704 2766 2643 0 0 0 0 0 0 14.62 28.83 13.50

4327 end apogee: CONTROL_FINISHED_OK

state 4327 begin climb

4328 0.92 136.3 3030 2350 2765 2643 559.2 0.0 326 4446 1.17 2.62 109.97 1.523 10756 0.181 0.081 3385 953 2149 2218 2080 0 0 0 0 0 0 14.04 13.85 13.30

4514 0.92 136.3 3385 949 2211 2079 544.3 10.5 357 4521 0.00 2.53 0.00 0.000 1030 0.000 0.071 3385 2359 2145 2211 2079 0 0 0 0 0 0 28.83 14.07 28.83

4820 0.92 136.3 3386 2359 2208 2079 512.0 10.4 373 4821 0.00 0.00 0.00 0.000 6 0.000 0.000 3385 2360 2143 2208 2079 0 0 0 0 0 0 28.83 28.83 28.83

5120 0.92 136.3 3385 2356 2208 2079 479.2 11.1 388 5127 0.00 2.47 0.00 0.000 516 0.000 0.080 3395 947 2143 2207 2079 0 0 0 0 0 0 28.83 14.47 28.83

5160 0.92 136.3 3395 947 2208 2079 474.9 10.8 395 5168 0.00 2.45 0.00 0.000 1030 0.000 0.070 3396 2362 2143 2208 2079 0 0 0 0 0 0 28.83 14.50 28.83

5466 0.92 136.3 3396 2362 2207 2079 439.2 12.0 411 5472 0.00 2.47 0.00 0.000 260 0.000 0.100 3396 3754 2143 2207 2079 0 0 0 0 0 0 28.83 14.56 28.83

5517 0.92 136.3 3396 3754 2207 2078 432.6 12.8 420 5524 0.00 2.40 0.00 0.000 1030 0.000 0.064 3407 2342 2143 2207 2079 0 0 0 0 0 0 28.83 14.61 28.83

5836 0.92 136.3 3407 2339 2207 2078 396.5 10.7 438 5837 0.00 0.00 0.00 0.000 6 0.000 0.000 3406 2345 2143 2207 2079 0 0 0 0 0 0 28.83 28.83 28.83

6136 0.92 136.3 3407 2339 2203 2078 363.7 11.3 453 6143 0.00 2.38 0.00 0.000 516 0.000 0.080 3417 950 2143 2207 2079 0 0 0 0 0 0 28.83 14.67 28.83

6193 0.92 136.3 3417 950 2207 2079 357.4 11.0 463 6199 0.00 2.40 0.00 0.000 1030 0.000 0.071 3418 2354 2142 2206 2079 0 0 0 0 0 0 28.83 14.68 28.83

6507 0.92 136.3 3417 2354 2207 2079 320.6 11.3 480 6508 0.00 0.00 0.00 0.000 6 0.000 0.000 3417 2354 2143 2207 2079 0 0 0 0 0 0 28.83 28.83 28.83

6808 0.92 136.3 3417 2354 2207 2079 289.5 9.9 495 6815 0.00 2.47 0.00 0.000 260 0.000 0.101 3417 3758 2143 2207 2079 0 0 0 0 0 0 28.83 14.70 28.83

6854 0.92 136.3 3417 3758 2207 2079 284.3 11.6 503 6862 0.15 2.38 0.00 0.000 5126 0.282 0.065 3393 2342 2143 2207 2079 0 0 0 0 0 0 14.61 14.74 28.83

7179 0.92 136.3 3393 2341 2206 2079 254.3 9.2 522 7188 0.00 2.35 0.00 0.000 516 0.000 0.079 3403 959 2143 2207 2079 0 0 0 0 0 0 28.83 14.73 28.83

7259 0.92 136.3 3403 959 2207 2079 246.9 9.4 537 7267 0.00 2.38 0.00 0.000 1030 0.000 0.071 3403 2356 2143 2207 2079 0 0 0 0 0 0 28.83 14.73 28.83

7565 0.93 139.5 3404 2356 2207 2079 218.8 9.0 553 7572 0.00 2.47 0.00 0.000 260 0.000 0.103 3403 3758 2143 2207 2079 0 0 0 0 0 0 28.83 14.73 28.83

7634 0.93 139.5 3403 3757 2207 2079 211.2 11.2 566 7642 0.00 2.38 0.00 0.000 1030 0.000 0.065 3415 2341 2143 2207 2079 0 0 0 0 0 0 28.83 14.78 28.83

7954 0.93 139.5 3415 2341 2208 2079 179.5 9.4 584 7961 0.00 2.53 0.00 0.000 260 0.000 0.100 3415 3758 2142 2207 2078 0 0 0 0 0 0 28.83 14.73 28.83

7978 0.93 139.5 3415 3758 2207 2079 177.0 10.5 588 7985 0.12 2.35 0.00 0.000 5126 0.282 0.065 3397 2351 2143 2207 2080 0 0 0 0 0 0 14.66 14.78 28.83

8305 1.05 193.4 3397 2350 2207 2079 151.8 6.7 607 8353 0.05 0.00 45.25 1.063 10246 0.282 0.000 3426 2350 1919 1984 1854 0 0 0 0 0 0 14.75 28.83 14.04

8643 1.05 193.4 3426 2350 1975 1848 119.2 10.5 624 8650 0.00 2.53 0.00 0.000 260 0.000 0.105 3426 3753 1911 1975 1848 0 0 0 0 0 0 28.83 14.59 28.83

8666 1.05 193.4 3426 3753 1975 1848 116.5 11.6 628 8673 0.00 2.38 0.00 0.000 1030 0.000 0.067 3436 2354 1911 1975 1848 0 0 0 0 0 0 28.83 14.64 28.83

8981 1.05 193.4 3437 2353 1974 1848 82.7 10.2 640 8987 0.00 2.40 0.00 0.000 516 0.000 0.082 3447 953 1911 1974 1848 0 0 0 0 0 0 28.83 14.64 28.83

9185 1.05 193.4 3448 953 1972 1848 61.7 10.2 680 9192 0.00 2.40 0.00 0.000 1030 0.000 0.075 3447 2350 1909 1972 1847 0 0 0 0 0 0 28.83 14.68 28.83

9499 1.07 202.5 3448 2349 1971 1847 32.8 8.8 692 9512 0.00 2.42 6.20 0.841 8708 0.000 0.080 3458 953 1880 1943 1818 0 0 0 0 0 0 28.83 14.66 14.20

9697 1.21 264.8 3458 953 1941 1817 18.6 6.4 730 9739 0.00 2.40 32.55 0.149 9222 0.000 0.075 3458 2351 1631 1703 1559 0 0 0 0 0 0 28.83 14.69 14.61

9886 end climb: SURFACE_DEPTH_REACHED

state 9886 begin surface coast

9906 end surface coast: CONTROL_FINISHED_OK

state 9907 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	63	ESCAPE_HEADING	0	C_ROLL_DIVE	2450	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2350	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	47	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	31	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	-2	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	280914,113128,6640.608,-6010.703,33,0.8,33,-32.8	SPEED_LIMITS	0.109,0.246
_CALLS	1	TGT_NAME	TARGET_W
_XMS_NAKs	0	TGT_LATLONG	6644.000,-6026.000
_XMS_TOUTs	0	TGT_RADIUS	10000.000
_SM_DEPTHo	2.12	MHEAD_RNG_PITCHd_Wd	16.8,12849,-17.5,-9.167,-20.44,2275
_SM_ANGLEo	-72.1	D_GRID	553
GPS2	280914,113737,6640.635,-6010.641,5,1.0,5,-32.8

EKF	10071,4001.974609,-3611.522949,1.227264,1.026325,-0.426284,-0.027121,0.000141,0.000898,0.000099,0.002025,0.002025,0.000050	_24V_AH	13.30,19.519
FINISH	1.2,1.003162	_10V_AH	12.88,0.000
SM_CCo	9924,40.33,0.096,0,0,1282,350.04	FG_AHR_24Vo	0.000
SM_GC	2.16,9.70,0.15,40.33,0.106,0.144,0.096,212,2455,1282,-8.97,-0.93,350.04,0,0,0,0,0,0,14.64,14.68,14.64	FG_AHR_10Vo	0.000
RAFOS_CLK	-69	MEM	143168
RAFOS	0,1411905663,12.033333,12.017500,119,66,61,58,56,50,599,191,220,208,140,175	DATA_FILE_SIZE	26723,753
RAFOS_FIX	6639.538086,-6010.782715,280914,121220,4,117,0.78	CAP_FILE_SIZE	116737,0
IRIDIUM_FIX	6609.62,-6013.96,280914,083828	CFSIZE	1024409600,1010270208
TT8_MAMPS	0.038199,0.038199	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	44.92	INTR	0,10568.19,0x23769e,7,5
INTERNAL_PRESSURE	8.49408	SOUNDSPEED	1452.9
TCM_TEMP	12.40	CURRENT	0.136,308.41,1
XPDR_PINGS	0	GPS	280914,142559,6642.532,-6013.099,35,0.8,35,-32.9
SC_FREEKB	3999904

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	429	140.66	nil	0	0	0.00
Roll_motor	91	143	175.40	nil	0	0	0.00
VBD_pump_during_apogee	303	1567	6322.54	nil	0	0	0.00
VBD_pump_during_surface	40	96	51.70	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	9913	3	429.81
Iridium_during_xfer	249	166	553.96	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	20	1.82
TT8	2286	24	727.46
LPSleep	5996	2	178.41
TT8_Active	536	23	165.57
TT8_Sampling	1464	42	805.03
TT8_CF8	79	56	57.36
TT8_Kalman	0	0	0.00
Analog_circuits	1408	15	272.14
GPS_charging	0	0	0.00
Compass	1117	5	71.99
RAFOS	2520	1	48.69
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	188	2457	1302	1229	0.0	0.0	0	83	0.00	0.00	-63.90	0.000	16386	0.000	0.000	185	2458	2877	2880	2874	0	0	0	0	0	0	28.83	28.83	28.83
85	-0.92	-136.3	185	2458	2881	2874	3.6	-3.2	6	113	12.50	2.40	-7.85	0.000	18692	0.430	0.130	2786	3776	3265	3291	3240	0	0	0	0	0	0	14.30	14.45	14.69
215	-0.92	-136.3	2786	3776	3295	3239	34.0	-19.9	29	221	0.00	2.28	0.00	0.000	1030	0.000	0.067	2786	2444	3267	3295	3239	0	0	0	0	0	0	28.83	14.55	28.83
529	-0.92	-136.3	2786	2443	3298	3239	82.9	-15.7	41	536	0.00	2.40	0.00	0.000	516	0.000	0.079	2786	1053	3268	3298	3239	0	0	0	0	0	0	28.83	14.60	28.83
761	-0.92	-136.3	2786	1053	3300	3240	121.8	-15.6	85	768	0.00	2.42	0.00	0.000	1030	0.000	0.080	2785	2448	3269	3300	3239	0	0	0	0	0	0	28.83	14.63	28.83
1085	-0.92	-136.3	2785	2448	3300	3240	168.9	-14.2	104	1092	0.00	2.40	0.00	0.000	260	0.000	0.110	2785	3786	3269	3300	3239	0	0	0	0	0	0	28.83	14.64	28.83
1159	-0.92	-136.3	2785	3786	3300	3239	180.0	-14.5	118	1167	0.00	2.28	0.00	0.000	1030	0.000	0.068	2785	2440	3269	3300	3239	0	0	0	0	0	0	28.83	14.70	28.83
1476	-0.92	-136.3	2786	2439	3300	3239	222.6	-13.0	135	1482	0.00	2.40	0.00	0.000	516	0.000	0.080	2785	1050	3269	3300	3239	0	0	0	0	0	0	28.83	14.71	28.83
1543	-0.92	-136.3	2786	1051	3301	3238	232.1	-14.5	147	1550	0.00	2.42	0.00	0.000	1030	0.000	0.081	2785	2451	3269	3300	3238	0	0	0	0	0	0	28.83	14.69	28.83
1870	-0.92	-136.3	2786	2450	3300	3237	275.3	-12.8	166	1878	0.00	2.42	0.00	0.000	516	0.000	0.080	2786	1053	3268	3300	3237	0	0	0	0	0	0	28.83	14.71	28.83
1904	-0.92	-136.3	2785	1053	3300	3238	280.1	-13.1	172	1911	0.00	2.42	0.00	0.000	1030	0.000	0.080	2785	2456	3268	3300	3237	0	0	0	0	0	0	28.83	14.71	28.83
2218	-0.92	-136.3	2785	2456	3301	3236	318.3	-12.2	189	2225	0.00	2.38	0.00	0.000	260	0.000	0.110	2785	3784	3268	3300	3236	0	0	0	0	0	0	28.83	14.69	28.83
2277	-0.92	-136.3	2785	3784	3301	3236	325.7	-12.2	200	2285	0.00	2.25	0.00	0.000	1030	0.000	0.069	2787	2447	3266	3300	3233	0	0	0	0	0	0	28.83	14.75	28.83
2583	-0.92	-136.3	2785	2448	3300	3235	362.9	-12.1	216	2585	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2448	3268	3300	3236	0	0	0	0	0	0	28.83	28.83	28.83
2884	-0.92	-136.3	2785	2448	3298	3236	399.4	-12.0	231	2891	0.00	2.38	0.00	0.000	516	0.000	0.079	2786	1058	3268	3300	3236	0	0	0	0	0	0	28.83	14.73	28.83
2930	-0.92	-136.3	2785	1059	3300	3236	405.2	-12.6	239	2937	0.00	2.40	0.00	0.000	1030	0.000	0.079	2785	2451	3268	3300	3236	0	0	0	0	0	0	28.83	14.73	28.83
3255	-0.92	-136.3	2785	2451	3300	3235	444.8	-12.2	258	3256	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2451	3267	3301	3233	0	0	0	0	0	0	28.83	28.83	28.83
3555	-0.92	-136.3	2784	2451	3300	3235	481.2	-11.9	273	3561	0.00	2.38	0.00	0.000	260	0.000	0.106	2785	3788	3267	3300	3235	0	0	0	0	0	0	28.83	14.71	28.83
3640	-0.92	-136.3	2786	3788	3300	3235	491.9	-11.5	289	3647	0.00	2.25	0.00	0.000	1030	0.000	0.067	2785	2445	3267	3300	3235	0	0	0	0	0	0	28.83	14.78	28.83
3964	-0.92	-136.3	2785	2445	3300	3235	527.9	-10.5	308	3965	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2445	3267	3300	3235	0	0	0	0	0	0	28.83	28.83	28.83
4203	end dive: TARGET_DEPTH_EXCEEDED
state	4203	begin apogee
4207	-0.18	0.0	2785	2350	3300	3236	554.7	-12.1	320	4325	0.90	0.00	109.30	1.567	10246	0.264	0.000	3029	2350	2704	2766	2643	0	0	0	0	0	0	14.62	28.83	13.50
4327	end apogee: CONTROL_FINISHED_OK
state	4327	begin climb
4328	0.92	136.3	3030	2350	2765	2643	559.2	0.0	326	4446	1.17	2.62	109.97	1.523	10756	0.181	0.081	3385	953	2149	2218	2080	0	0	0	0	0	0	14.04	13.85	13.30
4514	0.92	136.3	3385	949	2211	2079	544.3	10.5	357	4521	0.00	2.53	0.00	0.000	1030	0.000	0.071	3385	2359	2145	2211	2079	0	0	0	0	0	0	28.83	14.07	28.83
4820	0.92	136.3	3386	2359	2208	2079	512.0	10.4	373	4821	0.00	0.00	0.00	0.000	6	0.000	0.000	3385	2360	2143	2208	2079	0	0	0	0	0	0	28.83	28.83	28.83
5120	0.92	136.3	3385	2356	2208	2079	479.2	11.1	388	5127	0.00	2.47	0.00	0.000	516	0.000	0.080	3395	947	2143	2207	2079	0	0	0	0	0	0	28.83	14.47	28.83
5160	0.92	136.3	3395	947	2208	2079	474.9	10.8	395	5168	0.00	2.45	0.00	0.000	1030	0.000	0.070	3396	2362	2143	2208	2079	0	0	0	0	0	0	28.83	14.50	28.83
5466	0.92	136.3	3396	2362	2207	2079	439.2	12.0	411	5472	0.00	2.47	0.00	0.000	260	0.000	0.100	3396	3754	2143	2207	2079	0	0	0	0	0	0	28.83	14.56	28.83
5517	0.92	136.3	3396	3754	2207	2078	432.6	12.8	420	5524	0.00	2.40	0.00	0.000	1030	0.000	0.064	3407	2342	2143	2207	2079	0	0	0	0	0	0	28.83	14.61	28.83
5836	0.92	136.3	3407	2339	2207	2078	396.5	10.7	438	5837	0.00	0.00	0.00	0.000	6	0.000	0.000	3406	2345	2143	2207	2079	0	0	0	0	0	0	28.83	28.83	28.83
6136	0.92	136.3	3407	2339	2203	2078	363.7	11.3	453	6143	0.00	2.38	0.00	0.000	516	0.000	0.080	3417	950	2143	2207	2079	0	0	0	0	0	0	28.83	14.67	28.83
6193	0.92	136.3	3417	950	2207	2079	357.4	11.0	463	6199	0.00	2.40	0.00	0.000	1030	0.000	0.071	3418	2354	2142	2206	2079	0	0	0	0	0	0	28.83	14.68	28.83
6507	0.92	136.3	3417	2354	2207	2079	320.6	11.3	480	6508	0.00	0.00	0.00	0.000	6	0.000	0.000	3417	2354	2143	2207	2079	0	0	0	0	0	0	28.83	28.83	28.83
6808	0.92	136.3	3417	2354	2207	2079	289.5	9.9	495	6815	0.00	2.47	0.00	0.000	260	0.000	0.101	3417	3758	2143	2207	2079	0	0	0	0	0	0	28.83	14.70	28.83
6854	0.92	136.3	3417	3758	2207	2079	284.3	11.6	503	6862	0.15	2.38	0.00	0.000	5126	0.282	0.065	3393	2342	2143	2207	2079	0	0	0	0	0	0	14.61	14.74	28.83
7179	0.92	136.3	3393	2341	2206	2079	254.3	9.2	522	7188	0.00	2.35	0.00	0.000	516	0.000	0.079	3403	959	2143	2207	2079	0	0	0	0	0	0	28.83	14.73	28.83
7259	0.92	136.3	3403	959	2207	2079	246.9	9.4	537	7267	0.00	2.38	0.00	0.000	1030	0.000	0.071	3403	2356	2143	2207	2079	0	0	0	0	0	0	28.83	14.73	28.83
7565	0.93	139.5	3404	2356	2207	2079	218.8	9.0	553	7572	0.00	2.47	0.00	0.000	260	0.000	0.103	3403	3758	2143	2207	2079	0	0	0	0	0	0	28.83	14.73	28.83
7634	0.93	139.5	3403	3757	2207	2079	211.2	11.2	566	7642	0.00	2.38	0.00	0.000	1030	0.000	0.065	3415	2341	2143	2207	2079	0	0	0	0	0	0	28.83	14.78	28.83
7954	0.93	139.5	3415	2341	2208	2079	179.5	9.4	584	7961	0.00	2.53	0.00	0.000	260	0.000	0.100	3415	3758	2142	2207	2078	0	0	0	0	0	0	28.83	14.73	28.83
7978	0.93	139.5	3415	3758	2207	2079	177.0	10.5	588	7985	0.12	2.35	0.00	0.000	5126	0.282	0.065	3397	2351	2143	2207	2080	0	0	0	0	0	0	14.66	14.78	28.83
8305	1.05	193.4	3397	2350	2207	2079	151.8	6.7	607	8353	0.05	0.00	45.25	1.063	10246	0.282	0.000	3426	2350	1919	1984	1854	0	0	0	0	0	0	14.75	28.83	14.04
8643	1.05	193.4	3426	2350	1975	1848	119.2	10.5	624	8650	0.00	2.53	0.00	0.000	260	0.000	0.105	3426	3753	1911	1975	1848	0	0	0	0	0	0	28.83	14.59	28.83
8666	1.05	193.4	3426	3753	1975	1848	116.5	11.6	628	8673	0.00	2.38	0.00	0.000	1030	0.000	0.067	3436	2354	1911	1975	1848	0	0	0	0	0	0	28.83	14.64	28.83
8981	1.05	193.4	3437	2353	1974	1848	82.7	10.2	640	8987	0.00	2.40	0.00	0.000	516	0.000	0.082	3447	953	1911	1974	1848	0	0	0	0	0	0	28.83	14.64	28.83
9185	1.05	193.4	3448	953	1972	1848	61.7	10.2	680	9192	0.00	2.40	0.00	0.000	1030	0.000	0.075	3447	2350	1909	1972	1847	0	0	0	0	0	0	28.83	14.68	28.83
9499	1.07	202.5	3448	2349	1971	1847	32.8	8.8	692	9512	0.00	2.42	6.20	0.841	8708	0.000	0.080	3458	953	1880	1943	1818	0	0	0	0	0	0	28.83	14.66	14.20
9697	1.21	264.8	3458	953	1941	1817	18.6	6.4	730	9739	0.00	2.40	32.55	0.149	9222	0.000	0.075	3458	2351	1631	1703	1559	0	0	0	0	0	0	28.83	14.69	14.61
9886	end climb: SURFACE_DEPTH_REACHED
state	9886	begin surface coast
9906	end surface coast: CONTROL_FINISHED_OK
state	9907	begin surface