Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 299 * 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 299 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 57 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 23 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 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 -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 57 VBD_DBAND 2

DEVICE4 -1 MISSION 3 R_STBD_OVSHOOT 23 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 299 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 071114,203053,6640.265,-6009.735,37,0.8,37,-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 2.55 MHEAD_RNG_PITCHd_Wd 18.3,13869,-17.5,-9.167,-20.44,2275

_SM_ANGLEo -70.3 D_GRID 559

GPS2 071114,203644,6640.199,-6009.667,6,0.8,6,-32.8

Post-dive calculations and measurements:

EKF 9456,4001.635986,-3610.535400,1.699765,0.253504,-0.274512,0.013529,0.000145,0.000928,0.000099,0.003025,0.003025,0.000050 _24V_AH 13.14,73.404

FINISH 1.7,1.025742 _10V_AH 12.83,0.000

SM_CCo 9326,52.83,0.094,0,0,1282,350.04 FG_AHR_24Vo 0.000

SM_GC 2.61,9.50,0.10,52.83,0.076,0.166,0.094,213,2457,1282,-8.96,-1.10,350.04,0,0,0,0,0,0,14.50,14.50,14.48 FG_AHR_10Vo 0.000

RAFOS_CLK -111 MEM 143180

RAFOS 3,1415391904,20.433332,20.417778,58,57,57,56,54,54,215,168,224,133,157,121 DATA_FILE_SIZE 23409,661

RAFOS_FIX 6640.676758,-5952.055176,071114,161633,3,91,1.37 CAP_FILE_SIZE 105360,0

IRIDIUM_FIX 6609.62,-6011.26,071114,173457 CFSIZE 1024409600,982876160

TT8_MAMPS 0.03745,0.03745 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 43.30 INTR 1,4073.12,0x23769e,2,5

INTERNAL_PRESSURE 8.45502 SOUNDSPEED 1451.6

TCM_TEMP 12.00 CURRENT 0.193,199.42,1

XPDR_PINGS 0 GPS 071114,231453,6640.722,-6011.428,12,0.8,12,-32.8

SC_FREEKB 3924352

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 411 131.42 nil 0 0 0.00

Roll_motor 80 166 175.16 nil 0 0 0.00

VBD_pump_during_apogee 308 1556 6314.77 nil 0 0 0.00

VBD_pump_during_surface 52 94 65.31 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 9319 3 407.52

Iridium_during_xfer 205 146 396.23 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 1.87

TT8 1993 24 631.61

LPSleep 5774 2 171.15

TT8_Active 541 23 166.42

TT8_Sampling 1271 42 696.06

TT8_CF8 181 56 130.59

TT8_Kalman 0 0 0.00

Analog_circuits 1309 15 252.01

GPS_charging 0 0 0.00

Compass 988 5 63.41

RAFOS 720 1 13.86

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 16 begin dive

18 -0.92 -136.3 164 2442 1305 1225 0.0 0.0 0 63 0.00 0.00 -42.65 0.000 16386 0.000 0.000 161 2443 2338 2351 2326 0 0 0 0 0 0 28.83 28.83 28.83

66 -0.92 -136.3 161 2443 2353 2325 3.2 -2.2 4 115 12.48 2.42 -29.00 0.000 18692 0.412 0.113 2785 3784 3264 3295 3234 0 0 0 0 0 0 14.14 14.40 14.71

203 -0.92 -136.3 2786 3785 3297 3235 23.1 -20.0 27 211 0.00 2.25 0.00 0.000 1030 0.000 0.053 2786 2444 3265 3296 3235 0 0 0 0 0 0 28.83 14.52 28.83

519 -0.92 -136.3 2786 2444 3296 3234 82.3 -18.2 39 521 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2443 3265 3297 3234 0 0 0 0 0 0 28.83 28.83 28.83

820 -0.92 -136.3 2783 2444 3297 3234 131.9 -16.0 50 827 0.00 2.42 0.00 0.000 260 0.000 0.097 2786 3784 3266 3298 3234 0 0 0 0 0 0 28.83 14.45 28.83

861 -0.92 -136.3 2785 3784 3297 3234 138.9 -16.2 57 870 0.00 2.22 0.00 0.000 1030 0.000 0.054 2785 2447 3266 3298 3234 0 0 0 0 0 0 28.83 14.59 28.83

1166 -0.92 -136.3 2786 2448 3297 3234 187.2 -15.5 73 1175 0.00 2.38 0.00 0.000 516 0.000 0.067 2785 1064 3266 3298 3234 0 0 0 0 0 0 28.83 14.54 28.83

1201 -0.92 -136.3 2786 1064 3298 3234 192.9 -15.9 79 1208 0.00 2.40 0.00 0.000 1030 0.000 0.063 2785 2461 3266 3298 3234 0 0 0 0 0 0 28.83 14.48 28.83

1516 -0.92 -136.3 2785 2461 3298 3234 238.4 -14.1 96 1523 0.00 2.35 0.00 0.000 260 0.000 0.096 2785 3782 3265 3298 3233 0 0 0 0 0 0 28.83 14.49 28.83

1566 -0.92 -136.3 2782 3781 3297 3234 245.4 -14.2 105 1575 0.00 2.20 0.00 0.000 1030 0.000 0.053 2785 2447 3266 3298 3234 0 0 0 0 0 0 28.83 14.64 28.83

1888 -0.92 -136.3 2785 2447 3298 3233 288.6 -12.9 123 1894 0.00 2.35 0.00 0.000 516 0.000 0.066 2785 1069 3265 3297 3233 0 0 0 0 0 0 28.83 14.56 28.83

1969 -0.92 -136.3 2785 1069 3297 3233 298.9 -12.4 138 1976 0.00 2.38 0.00 0.000 1030 0.000 0.063 2785 2453 3265 3298 3233 0 0 0 0 0 0 28.83 14.55 28.83

2275 -0.92 -136.3 2785 2453 3298 3232 339.3 -14.0 154 2276 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2453 3264 3297 3232 0 0 0 0 0 0 28.83 28.83 28.83

2575 -0.92 -136.3 2785 2453 3298 3232 378.8 -12.0 169 2576 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2453 3264 3298 3231 0 0 0 0 0 0 28.83 28.83 28.83

2875 -0.92 -136.3 2785 2453 3298 3231 414.2 -11.8 184 2881 0.00 2.38 0.00 0.000 260 0.000 0.098 2785 3782 3264 3297 3231 0 0 0 0 0 0 28.83 14.50 28.83

2961 -0.92 -136.3 2785 3781 3297 3231 425.0 -13.3 200 2968 0.00 2.22 0.00 0.000 1030 0.000 0.054 2782 2446 3262 3297 3227 0 0 0 0 0 0 28.83 14.65 28.83

3286 -0.92 -136.3 2785 2446 3298 3230 462.4 -11.6 219 3293 0.00 2.40 0.00 0.000 260 0.000 0.094 2785 3782 3264 3298 3231 0 0 0 0 0 0 28.83 14.50 28.83

3341 -0.92 -136.3 2785 3781 3298 3231 468.3 -11.5 229 3349 0.00 2.22 0.00 0.000 1030 0.000 0.054 2785 2437 3264 3298 3231 0 0 0 0 0 0 28.83 14.66 28.83

3658 -0.92 -136.3 2784 2437 3298 3231 508.7 -14.5 246 3665 0.00 2.42 0.00 0.000 260 0.000 0.096 2785 3781 3264 3297 3231 0 0 0 0 0 0 28.83 14.50 28.83

3747 -0.92 -136.3 2785 3782 3298 3231 519.9 -12.4 262 3754 0.00 2.22 0.00 0.000 1030 0.000 0.053 2785 2442 3264 3297 3231 0 0 0 0 0 0 28.83 14.65 28.83

4071 end dive: TARGET_DEPTH_EXCEEDED

state 4071 begin apogee

4076 -0.18 0.0 2785 2443 3298 3231 559.2 -12.0 281 4193 0.93 0.00 110.95 1.557 10246 0.253 0.000 3032 2443 2706 2769 2644 0 0 0 0 0 0 14.25 28.83 13.45

4195 end apogee: CONTROL_FINISHED_OK

state 4195 begin climb

4197 0.92 136.3 3032 2442 2767 2643 564.2 0.0 287 4320 1.12 2.62 112.22 1.516 10756 0.172 0.063 3379 992 2148 2218 2079 0 0 0 0 0 0 14.04 13.76 13.14

4409 0.92 136.3 3379 992 2212 2079 548.2 9.7 323 4416 0.00 2.45 0.00 0.000 1030 0.000 0.054 3378 2380 2145 2212 2079 0 0 0 0 0 0 28.83 13.95 28.83

4736 1.05 194.6 3379 2379 2210 2079 517.1 6.5 342 4787 0.12 0.00 48.28 1.438 10246 0.162 0.000 3429 2379 1914 1981 1847 0 0 0 0 0 0 14.28 28.83 13.47

5075 1.05 194.6 3428 2379 1974 1843 472.4 13.3 359 5082 0.00 2.42 0.00 0.000 516 0.000 0.067 3439 996 1908 1973 1843 0 0 0 0 0 0 28.83 14.34 28.83

5110 1.05 194.6 3439 996 1973 1843 467.4 14.6 365 5118 0.00 2.38 0.00 0.000 1030 0.000 0.057 3439 2376 1908 1974 1843 0 0 0 0 0 0 28.83 14.37 28.83

5427 1.05 194.6 3439 2376 1972 1843 421.7 13.9 382 5428 0.00 0.00 0.00 0.000 6 0.000 0.000 3439 2377 1907 1972 1843 0 0 0 0 0 0 28.83 28.83 28.83

5727 1.05 194.6 3439 2376 1972 1842 380.2 13.9 397 5728 0.00 0.00 0.00 0.000 6 0.000 0.000 3439 2377 1907 1972 1843 0 0 0 0 0 0 28.83 28.83 28.83

6027 1.05 194.6 3440 2376 1972 1843 339.7 12.8 412 6028 0.00 0.00 0.00 0.000 6 0.000 0.000 3439 2376 1907 1972 1843 0 0 0 0 0 0 28.83 28.83 28.83

6327 1.05 194.6 3439 2377 1972 1843 303.2 11.9 427 6334 0.00 2.38 0.00 0.000 516 0.000 0.068 3450 994 1907 1972 1843 0 0 0 0 0 0 28.83 14.57 28.83

6443 1.05 194.6 3450 993 1972 1843 289.3 11.1 449 6451 0.00 2.35 0.00 0.000 1030 0.000 0.057 3450 2383 1907 1972 1843 0 0 0 0 0 0 28.83 14.60 28.83

6761 1.05 194.6 3450 2383 1972 1843 254.7 10.5 466 6767 0.00 2.38 0.00 0.000 516 0.000 0.066 3460 996 1907 1972 1843 0 0 0 0 0 0 28.83 14.59 28.83

6832 1.05 194.6 3461 996 1972 1843 246.9 11.1 479 6839 0.00 2.35 0.00 0.000 1030 0.000 0.057 3461 2378 1907 1972 1843 0 0 0 0 0 0 28.83 14.62 28.83

7152 1.05 194.6 3460 2378 1972 1843 210.2 11.6 497 7160 0.00 2.35 0.00 0.000 516 0.000 0.064 3471 997 1907 1972 1842 0 0 0 0 0 0 28.83 14.61 28.83

7243 1.05 194.6 3471 998 1972 1843 199.5 12.0 514 7250 0.15 2.33 0.00 0.000 5126 0.260 0.056 3436 2376 1905 1968 1843 0 0 0 0 0 0 14.37 14.62 28.83

7564 1.05 194.6 3436 2376 1972 1843 164.8 10.4 532 7565 0.00 0.00 0.00 0.000 6 0.000 0.000 3435 2376 1907 1972 1842 0 0 0 0 0 0 28.83 28.83 28.83

7865 1.05 194.6 3436 2376 1972 1843 134.8 9.8 547 7872 0.00 2.35 0.00 0.000 516 0.000 0.067 3446 995 1907 1971 1843 0 0 0 0 0 0 28.83 14.59 28.83

7927 1.05 194.6 3446 994 1972 1843 128.6 10.0 558 7935 0.00 2.33 0.00 0.000 1030 0.000 0.057 3446 2376 1907 1972 1843 0 0 0 0 0 0 28.83 14.62 28.83

8242 1.05 194.6 3446 2376 1971 1843 97.8 9.6 571 8249 0.00 2.38 0.00 0.000 516 0.000 0.066 3455 988 1904 1965 1843 0 0 0 0 0 0 28.83 14.59 28.83

8343 1.06 196.0 3455 988 1971 1843 87.9 9.1 590 8349 0.00 2.35 0.00 0.000 1030 0.000 0.056 3455 2383 1907 1971 1843 0 0 0 0 0 0 28.83 14.61 28.83

8674 1.06 198.0 3455 2383 1970 1843 56.7 9.1 605 8682 0.00 2.47 0.00 0.000 260 0.000 0.092 3454 3779 1907 1971 1843 0 0 0 0 0 0 28.83 14.53 28.83

8730 1.06 198.0 3456 3778 1970 1843 51.4 9.7 615 8736 0.00 2.30 0.00 0.000 1030 0.000 0.050 3465 2381 1906 1970 1842 0 0 0 0 0 0 28.83 14.68 28.83

9046 1.15 238.7 3465 2380 1970 1843 25.1 7.3 627 9091 0.00 2.42 37.25 0.910 8708 0.000 0.069 3474 992 1733 1800 1667 0 0 0 0 0 0 28.83 14.57 14.07

9151 1.15 238.7 3475 993 1796 1666 15.4 10.5 645 9159 0.00 2.35 0.00 0.000 1030 0.000 0.057 3475 2376 1731 1796 1666 0 0 0 0 0 0 28.83 14.54 28.83

9297 end climb: SURFACE_DEPTH_REACHED

state 9297 begin surface coast

9307 end surface coast: CONTROL_FINISHED_OK

state 9307 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	299	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	57	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	23	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	071114,203053,6640.265,-6009.735,37,0.8,37,-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	2.55	MHEAD_RNG_PITCHd_Wd	18.3,13869,-17.5,-9.167,-20.44,2275
_SM_ANGLEo	-70.3	D_GRID	559
GPS2	071114,203644,6640.199,-6009.667,6,0.8,6,-32.8

EKF	9456,4001.635986,-3610.535400,1.699765,0.253504,-0.274512,0.013529,0.000145,0.000928,0.000099,0.003025,0.003025,0.000050	_24V_AH	13.14,73.404
FINISH	1.7,1.025742	_10V_AH	12.83,0.000
SM_CCo	9326,52.83,0.094,0,0,1282,350.04	FG_AHR_24Vo	0.000
SM_GC	2.61,9.50,0.10,52.83,0.076,0.166,0.094,213,2457,1282,-8.96,-1.10,350.04,0,0,0,0,0,0,14.50,14.50,14.48	FG_AHR_10Vo	0.000
RAFOS_CLK	-111	MEM	143180
RAFOS	3,1415391904,20.433332,20.417778,58,57,57,56,54,54,215,168,224,133,157,121	DATA_FILE_SIZE	23409,661
RAFOS_FIX	6640.676758,-5952.055176,071114,161633,3,91,1.37	CAP_FILE_SIZE	105360,0
IRIDIUM_FIX	6609.62,-6011.26,071114,173457	CFSIZE	1024409600,982876160
TT8_MAMPS	0.03745,0.03745	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	43.30	INTR	1,4073.12,0x23769e,2,5
INTERNAL_PRESSURE	8.45502	SOUNDSPEED	1451.6
TCM_TEMP	12.00	CURRENT	0.193,199.42,1
XPDR_PINGS	0	GPS	071114,231453,6640.722,-6011.428,12,0.8,12,-32.8
SC_FREEKB	3924352

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	411	131.42	nil	0	0	0.00
Roll_motor	80	166	175.16	nil	0	0	0.00
VBD_pump_during_apogee	308	1556	6314.77	nil	0	0	0.00
VBD_pump_during_surface	52	94	65.31	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	9319	3	407.52
Iridium_during_xfer	205	146	396.23	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	1.87
TT8	1993	24	631.61
LPSleep	5774	2	171.15
TT8_Active	541	23	166.42
TT8_Sampling	1271	42	696.06
TT8_CF8	181	56	130.59
TT8_Kalman	0	0	0.00
Analog_circuits	1309	15	252.01
GPS_charging	0	0	0.00
Compass	988	5	63.41
RAFOS	720	1	13.86
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	16	begin dive
18	-0.92	-136.3	164	2442	1305	1225	0.0	0.0	0	63	0.00	0.00	-42.65	0.000	16386	0.000	0.000	161	2443	2338	2351	2326	0	0	0	0	0	0	28.83	28.83	28.83
66	-0.92	-136.3	161	2443	2353	2325	3.2	-2.2	4	115	12.48	2.42	-29.00	0.000	18692	0.412	0.113	2785	3784	3264	3295	3234	0	0	0	0	0	0	14.14	14.40	14.71
203	-0.92	-136.3	2786	3785	3297	3235	23.1	-20.0	27	211	0.00	2.25	0.00	0.000	1030	0.000	0.053	2786	2444	3265	3296	3235	0	0	0	0	0	0	28.83	14.52	28.83
519	-0.92	-136.3	2786	2444	3296	3234	82.3	-18.2	39	521	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2443	3265	3297	3234	0	0	0	0	0	0	28.83	28.83	28.83
820	-0.92	-136.3	2783	2444	3297	3234	131.9	-16.0	50	827	0.00	2.42	0.00	0.000	260	0.000	0.097	2786	3784	3266	3298	3234	0	0	0	0	0	0	28.83	14.45	28.83
861	-0.92	-136.3	2785	3784	3297	3234	138.9	-16.2	57	870	0.00	2.22	0.00	0.000	1030	0.000	0.054	2785	2447	3266	3298	3234	0	0	0	0	0	0	28.83	14.59	28.83
1166	-0.92	-136.3	2786	2448	3297	3234	187.2	-15.5	73	1175	0.00	2.38	0.00	0.000	516	0.000	0.067	2785	1064	3266	3298	3234	0	0	0	0	0	0	28.83	14.54	28.83
1201	-0.92	-136.3	2786	1064	3298	3234	192.9	-15.9	79	1208	0.00	2.40	0.00	0.000	1030	0.000	0.063	2785	2461	3266	3298	3234	0	0	0	0	0	0	28.83	14.48	28.83
1516	-0.92	-136.3	2785	2461	3298	3234	238.4	-14.1	96	1523	0.00	2.35	0.00	0.000	260	0.000	0.096	2785	3782	3265	3298	3233	0	0	0	0	0	0	28.83	14.49	28.83
1566	-0.92	-136.3	2782	3781	3297	3234	245.4	-14.2	105	1575	0.00	2.20	0.00	0.000	1030	0.000	0.053	2785	2447	3266	3298	3234	0	0	0	0	0	0	28.83	14.64	28.83
1888	-0.92	-136.3	2785	2447	3298	3233	288.6	-12.9	123	1894	0.00	2.35	0.00	0.000	516	0.000	0.066	2785	1069	3265	3297	3233	0	0	0	0	0	0	28.83	14.56	28.83
1969	-0.92	-136.3	2785	1069	3297	3233	298.9	-12.4	138	1976	0.00	2.38	0.00	0.000	1030	0.000	0.063	2785	2453	3265	3298	3233	0	0	0	0	0	0	28.83	14.55	28.83
2275	-0.92	-136.3	2785	2453	3298	3232	339.3	-14.0	154	2276	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2453	3264	3297	3232	0	0	0	0	0	0	28.83	28.83	28.83
2575	-0.92	-136.3	2785	2453	3298	3232	378.8	-12.0	169	2576	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2453	3264	3298	3231	0	0	0	0	0	0	28.83	28.83	28.83
2875	-0.92	-136.3	2785	2453	3298	3231	414.2	-11.8	184	2881	0.00	2.38	0.00	0.000	260	0.000	0.098	2785	3782	3264	3297	3231	0	0	0	0	0	0	28.83	14.50	28.83
2961	-0.92	-136.3	2785	3781	3297	3231	425.0	-13.3	200	2968	0.00	2.22	0.00	0.000	1030	0.000	0.054	2782	2446	3262	3297	3227	0	0	0	0	0	0	28.83	14.65	28.83
3286	-0.92	-136.3	2785	2446	3298	3230	462.4	-11.6	219	3293	0.00	2.40	0.00	0.000	260	0.000	0.094	2785	3782	3264	3298	3231	0	0	0	0	0	0	28.83	14.50	28.83
3341	-0.92	-136.3	2785	3781	3298	3231	468.3	-11.5	229	3349	0.00	2.22	0.00	0.000	1030	0.000	0.054	2785	2437	3264	3298	3231	0	0	0	0	0	0	28.83	14.66	28.83
3658	-0.92	-136.3	2784	2437	3298	3231	508.7	-14.5	246	3665	0.00	2.42	0.00	0.000	260	0.000	0.096	2785	3781	3264	3297	3231	0	0	0	0	0	0	28.83	14.50	28.83
3747	-0.92	-136.3	2785	3782	3298	3231	519.9	-12.4	262	3754	0.00	2.22	0.00	0.000	1030	0.000	0.053	2785	2442	3264	3297	3231	0	0	0	0	0	0	28.83	14.65	28.83
4071	end dive: TARGET_DEPTH_EXCEEDED
state	4071	begin apogee
4076	-0.18	0.0	2785	2443	3298	3231	559.2	-12.0	281	4193	0.93	0.00	110.95	1.557	10246	0.253	0.000	3032	2443	2706	2769	2644	0	0	0	0	0	0	14.25	28.83	13.45
4195	end apogee: CONTROL_FINISHED_OK
state	4195	begin climb
4197	0.92	136.3	3032	2442	2767	2643	564.2	0.0	287	4320	1.12	2.62	112.22	1.516	10756	0.172	0.063	3379	992	2148	2218	2079	0	0	0	0	0	0	14.04	13.76	13.14
4409	0.92	136.3	3379	992	2212	2079	548.2	9.7	323	4416	0.00	2.45	0.00	0.000	1030	0.000	0.054	3378	2380	2145	2212	2079	0	0	0	0	0	0	28.83	13.95	28.83
4736	1.05	194.6	3379	2379	2210	2079	517.1	6.5	342	4787	0.12	0.00	48.28	1.438	10246	0.162	0.000	3429	2379	1914	1981	1847	0	0	0	0	0	0	14.28	28.83	13.47
5075	1.05	194.6	3428	2379	1974	1843	472.4	13.3	359	5082	0.00	2.42	0.00	0.000	516	0.000	0.067	3439	996	1908	1973	1843	0	0	0	0	0	0	28.83	14.34	28.83
5110	1.05	194.6	3439	996	1973	1843	467.4	14.6	365	5118	0.00	2.38	0.00	0.000	1030	0.000	0.057	3439	2376	1908	1974	1843	0	0	0	0	0	0	28.83	14.37	28.83
5427	1.05	194.6	3439	2376	1972	1843	421.7	13.9	382	5428	0.00	0.00	0.00	0.000	6	0.000	0.000	3439	2377	1907	1972	1843	0	0	0	0	0	0	28.83	28.83	28.83
5727	1.05	194.6	3439	2376	1972	1842	380.2	13.9	397	5728	0.00	0.00	0.00	0.000	6	0.000	0.000	3439	2377	1907	1972	1843	0	0	0	0	0	0	28.83	28.83	28.83
6027	1.05	194.6	3440	2376	1972	1843	339.7	12.8	412	6028	0.00	0.00	0.00	0.000	6	0.000	0.000	3439	2376	1907	1972	1843	0	0	0	0	0	0	28.83	28.83	28.83
6327	1.05	194.6	3439	2377	1972	1843	303.2	11.9	427	6334	0.00	2.38	0.00	0.000	516	0.000	0.068	3450	994	1907	1972	1843	0	0	0	0	0	0	28.83	14.57	28.83
6443	1.05	194.6	3450	993	1972	1843	289.3	11.1	449	6451	0.00	2.35	0.00	0.000	1030	0.000	0.057	3450	2383	1907	1972	1843	0	0	0	0	0	0	28.83	14.60	28.83
6761	1.05	194.6	3450	2383	1972	1843	254.7	10.5	466	6767	0.00	2.38	0.00	0.000	516	0.000	0.066	3460	996	1907	1972	1843	0	0	0	0	0	0	28.83	14.59	28.83
6832	1.05	194.6	3461	996	1972	1843	246.9	11.1	479	6839	0.00	2.35	0.00	0.000	1030	0.000	0.057	3461	2378	1907	1972	1843	0	0	0	0	0	0	28.83	14.62	28.83
7152	1.05	194.6	3460	2378	1972	1843	210.2	11.6	497	7160	0.00	2.35	0.00	0.000	516	0.000	0.064	3471	997	1907	1972	1842	0	0	0	0	0	0	28.83	14.61	28.83
7243	1.05	194.6	3471	998	1972	1843	199.5	12.0	514	7250	0.15	2.33	0.00	0.000	5126	0.260	0.056	3436	2376	1905	1968	1843	0	0	0	0	0	0	14.37	14.62	28.83
7564	1.05	194.6	3436	2376	1972	1843	164.8	10.4	532	7565	0.00	0.00	0.00	0.000	6	0.000	0.000	3435	2376	1907	1972	1842	0	0	0	0	0	0	28.83	28.83	28.83
7865	1.05	194.6	3436	2376	1972	1843	134.8	9.8	547	7872	0.00	2.35	0.00	0.000	516	0.000	0.067	3446	995	1907	1971	1843	0	0	0	0	0	0	28.83	14.59	28.83
7927	1.05	194.6	3446	994	1972	1843	128.6	10.0	558	7935	0.00	2.33	0.00	0.000	1030	0.000	0.057	3446	2376	1907	1972	1843	0	0	0	0	0	0	28.83	14.62	28.83
8242	1.05	194.6	3446	2376	1971	1843	97.8	9.6	571	8249	0.00	2.38	0.00	0.000	516	0.000	0.066	3455	988	1904	1965	1843	0	0	0	0	0	0	28.83	14.59	28.83
8343	1.06	196.0	3455	988	1971	1843	87.9	9.1	590	8349	0.00	2.35	0.00	0.000	1030	0.000	0.056	3455	2383	1907	1971	1843	0	0	0	0	0	0	28.83	14.61	28.83
8674	1.06	198.0	3455	2383	1970	1843	56.7	9.1	605	8682	0.00	2.47	0.00	0.000	260	0.000	0.092	3454	3779	1907	1971	1843	0	0	0	0	0	0	28.83	14.53	28.83
8730	1.06	198.0	3456	3778	1970	1843	51.4	9.7	615	8736	0.00	2.30	0.00	0.000	1030	0.000	0.050	3465	2381	1906	1970	1842	0	0	0	0	0	0	28.83	14.68	28.83
9046	1.15	238.7	3465	2380	1970	1843	25.1	7.3	627	9091	0.00	2.42	37.25	0.910	8708	0.000	0.069	3474	992	1733	1800	1667	0	0	0	0	0	0	28.83	14.57	14.07
9151	1.15	238.7	3475	993	1796	1666	15.4	10.5	645	9159	0.00	2.35	0.00	0.000	1030	0.000	0.057	3475	2376	1731	1796	1666	0	0	0	0	0	0	28.83	14.54	28.83
9297	end climb: SURFACE_DEPTH_REACHED
state	9297	begin surface coast
9307	end surface coast: CONTROL_FINISHED_OK
state	9307	begin surface