Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 300 * 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 300 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 58 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 39 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 58 VBD_DBAND 2

DEVICE4 -1 MISSION 3 R_STBD_OVSHOOT 39 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 300 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 071114,231453,6640.722,-6011.428,12,0.8,12,-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 2.56 MHEAD_RNG_PITCHd_Wd 17.5,12339,-17.5,-9.167,-20.44,2275

_SM_ANGLEo -71.6 D_GRID 553

GPS2 071114,232016,6640.695,-6011.354,4,1.4,5,-32.8

Post-dive calculations and measurements:

EKF 9889,4002.039795,-3612.221191,1.736859,0.641582,0.138025,0.031502,0.000142,0.000904,0.000099,0.001025,0.001025,0.000050 _24V_AH 13.13,73.609

FINISH 1.7,1.025772 _10V_AH 12.83,0.000

SM_CCo 9739,25.05,0.094,0,0,1281,350.04 FG_AHR_24Vo 0.000

SM_GC 2.91,9.70,0.10,25.05,0.083,0.165,0.094,212,2452,1281,-8.96,-1.07,350.04,0,0,0,0,0,0,14.44,14.46,14.46 FG_AHR_10Vo 0.000

RAFOS_CLK -117 MEM 143132

RAFOS 0,1415404878,0.033333,0.021667,72,59,57,56,55,54,516,207,161,218,123,141 DATA_FILE_SIZE 23441,695

RAFOS_FIX 6641.255859,-6013.421875,081114,000052,3,71,0.44 CAP_FILE_SIZE 109024,0

IRIDIUM_FIX 6609.62,-6009.24,071114,203321 CFSIZE 1024409600,982777856

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

HUMID 44.60 INTR 0,9812.85,0x23769e,7,5

INTERNAL_PRESSURE 8.45502 SOUNDSPEED 1451.2

TCM_TEMP 11.90 CURRENT 0.176,324.75,1

XPDR_PINGS 0 GPS 081114,020540,6642.871,-6013.564,22,0.9,28,-32.9

SC_FREEKB 3924032

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 409 131.52 nil 0 0 0.00

Roll_motor 75 207 206.40 nil 0 0 0.00

VBD_pump_during_apogee 368 1529 7389.52 nil 0 0 0.00

VBD_pump_during_surface 25 94 30.95 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 9730 3 415.20

Iridium_during_xfer 179 149 352.36 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 20 1.60

TT8 2136 24 677.03

LPSleep 5974 2 177.06

TT8_Active 558 23 171.66

TT8_Sampling 1300 42 712.12

TT8_CF8 181 56 131.10

TT8_Kalman 0 0 0.00

Analog_circuits 1325 15 255.14

GPS_charging 0 0 0.00

Compass 1040 5 66.74

RAFOS 2520 1 48.50

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

18 -0.92 -136.3 174 2461 1302 1230 0.0 0.0 0 63 0.00 0.00 -42.88 0.000 16386 0.000 0.000 170 2462 2333 2359 2308 0 0 0 0 0 0 28.83 28.83 28.83

66 -0.92 -136.3 169 2461 2355 2313 3.0 -1.2 4 113 12.38 0.00 -31.52 0.000 18694 0.409 0.000 2791 2462 3264 3292 3236 0 0 0 0 0 0 14.18 28.83 14.71

431 -0.92 -136.3 2792 2462 3299 3235 64.2 -18.2 28 438 0.00 2.35 0.00 0.000 260 0.000 0.096 2786 3767 3267 3299 3235 0 0 0 0 0 0 28.83 14.42 28.83

538 -0.92 -136.3 2786 3767 3299 3235 84.5 -19.1 48 545 0.00 2.20 0.00 0.000 1030 0.000 0.053 2785 2450 3267 3299 3235 0 0 0 0 0 0 28.83 14.57 28.83

855 -0.92 -136.3 2786 2449 3299 3235 137.0 -16.3 63 861 0.00 2.38 0.00 0.000 516 0.000 0.067 2786 1063 3267 3299 3235 0 0 0 0 0 0 28.83 14.53 28.83

889 -0.92 -136.3 2786 1063 3299 3235 143.1 -16.8 69 897 0.00 2.38 0.00 0.000 1030 0.000 0.063 2786 2444 3267 3299 3235 0 0 0 0 0 0 28.83 14.54 28.83

1206 -0.92 -136.3 2786 2443 3299 3235 192.0 -15.4 86 1213 0.00 2.38 0.00 0.000 260 0.000 0.096 2785 3780 3267 3299 3235 0 0 0 0 0 0 28.83 14.43 28.83

1246 -0.92 -136.3 2785 3779 3299 3235 198.6 -15.7 93 1256 0.00 2.22 0.00 0.000 1030 0.000 0.054 2785 2441 3267 3299 3235 0 0 0 0 0 0 28.83 14.62 28.83

1552 -0.92 -136.3 2785 2441 3299 3235 245.6 -15.7 109 1560 0.00 2.42 0.00 0.000 260 0.000 0.096 2786 3783 3267 3299 3235 0 0 0 0 0 0 28.83 14.49 28.83

1587 -0.92 -136.3 2785 3783 3299 3235 251.1 -14.8 115 1594 0.00 2.22 0.00 0.000 1030 0.000 0.054 2786 2441 3266 3299 3234 0 0 0 0 0 0 28.83 14.64 28.83

1902 -0.92 -136.3 2786 2441 3298 3234 297.9 -14.7 132 1909 0.00 2.35 0.00 0.000 516 0.000 0.067 2785 1066 3266 3299 3234 0 0 0 0 0 0 28.83 14.56 28.83

1941 -0.92 -136.3 2785 1066 3299 3234 303.9 -14.9 139 1948 0.00 2.38 0.00 0.000 1030 0.000 0.063 2786 2451 3266 3299 3234 0 0 0 0 0 0 28.83 14.57 28.83

2247 -0.92 -136.3 2785 2451 3299 3235 345.5 -13.3 155 2248 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2450 3266 3298 3234 0 0 0 0 0 0 28.83 28.83 28.83

2550 -0.92 -136.3 2786 2451 3299 3233 383.2 -12.4 170 2551 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2451 3265 3299 3232 0 0 0 0 0 0 28.83 28.83 28.83

2847 -0.92 -136.3 2785 2450 3299 3232 419.0 -11.8 185 2856 0.00 2.38 0.00 0.000 260 0.000 0.099 2785 3779 3265 3299 3232 0 0 0 0 0 0 28.83 14.50 28.83

2967 -0.92 -136.3 2786 3778 3298 3232 433.9 -12.6 207 2974 0.00 2.20 0.00 0.000 1030 0.000 0.054 2786 2451 3265 3299 3232 0 0 0 0 0 0 28.83 14.64 28.83

3282 -0.92 -136.3 2786 2451 3299 3232 471.7 -11.4 224 3283 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2452 3265 3299 3232 0 0 0 0 0 0 28.83 28.83 28.83

3583 -0.92 -136.3 2785 2451 3299 3232 508.2 -12.1 239 3590 0.00 2.40 0.00 0.000 260 0.000 0.095 2786 3780 3265 3298 3232 0 0 0 0 0 0 28.83 14.50 28.83

3672 -0.92 -136.3 2785 3780 3299 3231 520.2 -12.9 256 3679 0.00 2.20 0.00 0.000 1030 0.000 0.053 2785 2449 3265 3299 3232 0 0 0 0 0 0 28.83 14.63 28.83

3950 end dive: TARGET_DEPTH_EXCEEDED

state 3950 begin apogee

3956 -0.18 0.0 2786 2391 3299 3232 553.4 -12.2 272 4074 0.90 0.00 112.50 1.529 10246 0.250 0.000 3026 2391 2707 2769 2646 0 0 0 0 0 0 14.26 28.83 13.45

4076 end apogee: CONTROL_FINISHED_OK

state 4076 begin climb

4078 0.92 136.3 3027 2391 2768 2644 559.4 0.0 278 4195 1.15 0.00 113.10 1.507 10502 0.174 0.000 3369 2391 2152 2222 2082 0 0 0 0 0 0 14.04 28.83 13.13

4492 0.96 154.0 3369 2391 2209 2078 528.7 8.4 308 4513 0.08 2.55 14.88 1.368 10756 0.216 0.068 3408 979 2078 2145 2011 0 0 0 0 0 0 14.16 14.17 13.46

4614 0.96 154.0 3409 979 2142 2011 515.9 11.3 330 4621 0.00 2.42 0.00 0.000 1030 0.000 0.057 3408 2377 2076 2142 2011 0 0 0 0 0 0 28.83 14.23 28.83

4929 0.96 154.0 3409 2377 2141 2011 482.5 10.4 347 4930 0.00 0.00 0.00 0.000 6 0.000 0.000 3409 2377 2076 2141 2011 0 0 0 0 0 0 28.83 28.83 28.83

5231 0.96 154.0 3409 2377 2140 2006 451.4 10.5 362 5233 0.00 0.00 0.00 0.000 6 0.000 0.000 3409 2377 2075 2140 2011 0 0 0 0 0 0 28.83 28.83 28.83

5530 0.96 154.0 3409 2377 2141 2011 416.8 11.7 377 5539 0.00 2.45 0.00 0.000 516 0.000 0.067 3420 970 2075 2140 2011 0 0 0 0 0 0 28.83 14.52 28.83

5577 0.96 154.0 3420 971 2140 2011 410.9 11.9 385 5585 0.00 2.38 0.00 0.000 1030 0.000 0.055 3420 2377 2076 2141 2011 0 0 0 0 0 0 28.83 14.54 28.83

5904 0.96 154.0 3420 2377 2141 2011 372.3 11.8 404 5910 0.00 2.47 0.00 0.000 260 0.000 0.090 3420 3777 2076 2141 2011 0 0 0 0 0 0 28.83 14.51 28.83

5943 0.96 154.0 3420 3777 2140 2011 367.0 13.0 411 5951 0.00 2.35 0.00 0.000 1030 0.000 0.049 3431 2355 2075 2140 2011 0 0 0 0 0 0 28.83 14.62 28.83

6250 0.96 154.0 3431 2355 2141 2011 330.8 11.3 427 6256 0.00 2.33 0.00 0.000 516 0.000 0.065 3442 988 2075 2141 2010 0 0 0 0 0 0 28.83 14.58 28.83

6330 0.96 154.0 3442 988 2141 2011 321.5 11.7 442 6339 0.15 2.38 0.00 0.000 5126 0.256 0.055 3405 2386 2076 2141 2011 0 0 0 0 0 0 14.33 14.56 28.83

6637 0.99 168.2 3406 2386 2141 2011 293.0 8.5 458 6655 0.00 2.50 12.75 1.148 8452 0.000 0.090 3406 3776 2020 2084 1956 0 0 0 0 0 0 28.83 14.62 14.00

6765 0.99 168.2 3406 3775 2082 1956 279.9 10.9 481 6774 0.00 2.33 0.00 0.000 1030 0.000 0.048 3417 2367 2019 2082 1956 0 0 0 0 0 0 28.83 14.62 28.83

7071 1.00 169.4 3417 2367 2081 1956 252.0 9.1 497 7079 0.00 2.35 0.00 0.000 516 0.000 0.065 3428 983 2019 2082 1956 0 0 0 0 0 0 28.83 14.59 28.83

7184 1.00 169.4 3427 981 2082 1956 242.1 9.4 518 7190 0.00 2.35 0.00 0.000 1030 0.000 0.054 3427 2380 2019 2082 1956 0 0 0 0 0 0 28.83 14.60 28.83

7504 1.03 183.9 3427 2380 2082 1956 215.0 8.5 536 7524 0.00 0.00 14.10 1.086 8198 0.000 0.000 3428 2380 1956 2020 1893 0 0 0 0 0 0 28.83 28.83 14.02

7824 1.03 183.9 3427 2380 2018 1892 185.5 9.7 552 7825 0.00 0.00 0.00 0.000 6 0.000 0.000 3427 2380 1955 2018 1892 0 0 0 0 0 0 28.83 28.83 28.83

8125 1.03 183.9 3427 2380 2017 1892 156.4 9.8 567 8132 0.00 2.40 0.00 0.000 516 0.000 0.068 3437 988 1954 2017 1891 0 0 0 0 0 0 28.83 14.57 28.83

8180 1.03 183.9 3437 988 2018 1892 150.6 10.5 577 8188 0.00 2.35 0.00 0.000 1030 0.000 0.057 3437 2378 1954 2017 1892 0 0 0 0 0 0 28.83 14.56 28.83

8498 1.09 211.3 3437 2378 2023 1891 122.8 7.9 594 8530 0.00 2.53 23.50 1.014 8452 0.000 0.093 3437 3777 1842 1909 1775 0 0 0 0 0 0 28.83 14.57 14.04

8606 1.09 211.3 3436 3778 1906 1780 112.5 9.9 613 8614 0.00 2.33 0.00 0.000 1030 0.000 0.050 3447 2376 1842 1906 1779 0 0 0 0 0 0 28.83 14.59 28.83

8939 1.09 211.3 3447 2376 1906 1777 80.0 10.1 628 8940 0.00 0.00 0.00 0.000 6 0.000 0.000 3447 2376 1841 1906 1777 0 0 0 0 0 0 28.83 28.83 28.83

9238 1.15 240.5 3447 2375 1905 1776 54.0 7.9 638 9270 0.00 2.42 26.58 0.939 8708 0.000 0.070 3456 993 1725 1793 1658 0 0 0 0 0 0 28.83 14.58 14.04

9362 1.27 294.6 3457 993 1788 1657 44.5 6.7 660 9420 0.12 2.35 50.62 0.919 11270 0.175 0.057 3503 2378 1504 1576 1432 0 0 0 0 0 0 14.49 14.54 13.90

9708 end climb: SURFACE_DEPTH_REACHED

state 9708 begin surface coast

9719 end surface coast: CONTROL_FINISHED_OK

state 9719 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	300	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	58	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	39	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	071114,231453,6640.722,-6011.428,12,0.8,12,-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	2.56	MHEAD_RNG_PITCHd_Wd	17.5,12339,-17.5,-9.167,-20.44,2275
_SM_ANGLEo	-71.6	D_GRID	553
GPS2	071114,232016,6640.695,-6011.354,4,1.4,5,-32.8

EKF	9889,4002.039795,-3612.221191,1.736859,0.641582,0.138025,0.031502,0.000142,0.000904,0.000099,0.001025,0.001025,0.000050	_24V_AH	13.13,73.609
FINISH	1.7,1.025772	_10V_AH	12.83,0.000
SM_CCo	9739,25.05,0.094,0,0,1281,350.04	FG_AHR_24Vo	0.000
SM_GC	2.91,9.70,0.10,25.05,0.083,0.165,0.094,212,2452,1281,-8.96,-1.07,350.04,0,0,0,0,0,0,14.44,14.46,14.46	FG_AHR_10Vo	0.000
RAFOS_CLK	-117	MEM	143132
RAFOS	0,1415404878,0.033333,0.021667,72,59,57,56,55,54,516,207,161,218,123,141	DATA_FILE_SIZE	23441,695
RAFOS_FIX	6641.255859,-6013.421875,081114,000052,3,71,0.44	CAP_FILE_SIZE	109024,0
IRIDIUM_FIX	6609.62,-6009.24,071114,203321	CFSIZE	1024409600,982777856
TT8_MAMPS	0.03745,0.03745	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	44.60	INTR	0,9812.85,0x23769e,7,5
INTERNAL_PRESSURE	8.45502	SOUNDSPEED	1451.2
TCM_TEMP	11.90	CURRENT	0.176,324.75,1
XPDR_PINGS	0	GPS	081114,020540,6642.871,-6013.564,22,0.9,28,-32.9
SC_FREEKB	3924032

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	409	131.52	nil	0	0	0.00
Roll_motor	75	207	206.40	nil	0	0	0.00
VBD_pump_during_apogee	368	1529	7389.52	nil	0	0	0.00
VBD_pump_during_surface	25	94	30.95	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	9730	3	415.20
Iridium_during_xfer	179	149	352.36	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	20	1.60
TT8	2136	24	677.03
LPSleep	5974	2	177.06
TT8_Active	558	23	171.66
TT8_Sampling	1300	42	712.12
TT8_CF8	181	56	131.10
TT8_Kalman	0	0	0.00
Analog_circuits	1325	15	255.14
GPS_charging	0	0	0.00
Compass	1040	5	66.74
RAFOS	2520	1	48.50
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
18	-0.92	-136.3	174	2461	1302	1230	0.0	0.0	0	63	0.00	0.00	-42.88	0.000	16386	0.000	0.000	170	2462	2333	2359	2308	0	0	0	0	0	0	28.83	28.83	28.83
66	-0.92	-136.3	169	2461	2355	2313	3.0	-1.2	4	113	12.38	0.00	-31.52	0.000	18694	0.409	0.000	2791	2462	3264	3292	3236	0	0	0	0	0	0	14.18	28.83	14.71
431	-0.92	-136.3	2792	2462	3299	3235	64.2	-18.2	28	438	0.00	2.35	0.00	0.000	260	0.000	0.096	2786	3767	3267	3299	3235	0	0	0	0	0	0	28.83	14.42	28.83
538	-0.92	-136.3	2786	3767	3299	3235	84.5	-19.1	48	545	0.00	2.20	0.00	0.000	1030	0.000	0.053	2785	2450	3267	3299	3235	0	0	0	0	0	0	28.83	14.57	28.83
855	-0.92	-136.3	2786	2449	3299	3235	137.0	-16.3	63	861	0.00	2.38	0.00	0.000	516	0.000	0.067	2786	1063	3267	3299	3235	0	0	0	0	0	0	28.83	14.53	28.83
889	-0.92	-136.3	2786	1063	3299	3235	143.1	-16.8	69	897	0.00	2.38	0.00	0.000	1030	0.000	0.063	2786	2444	3267	3299	3235	0	0	0	0	0	0	28.83	14.54	28.83
1206	-0.92	-136.3	2786	2443	3299	3235	192.0	-15.4	86	1213	0.00	2.38	0.00	0.000	260	0.000	0.096	2785	3780	3267	3299	3235	0	0	0	0	0	0	28.83	14.43	28.83
1246	-0.92	-136.3	2785	3779	3299	3235	198.6	-15.7	93	1256	0.00	2.22	0.00	0.000	1030	0.000	0.054	2785	2441	3267	3299	3235	0	0	0	0	0	0	28.83	14.62	28.83
1552	-0.92	-136.3	2785	2441	3299	3235	245.6	-15.7	109	1560	0.00	2.42	0.00	0.000	260	0.000	0.096	2786	3783	3267	3299	3235	0	0	0	0	0	0	28.83	14.49	28.83
1587	-0.92	-136.3	2785	3783	3299	3235	251.1	-14.8	115	1594	0.00	2.22	0.00	0.000	1030	0.000	0.054	2786	2441	3266	3299	3234	0	0	0	0	0	0	28.83	14.64	28.83
1902	-0.92	-136.3	2786	2441	3298	3234	297.9	-14.7	132	1909	0.00	2.35	0.00	0.000	516	0.000	0.067	2785	1066	3266	3299	3234	0	0	0	0	0	0	28.83	14.56	28.83
1941	-0.92	-136.3	2785	1066	3299	3234	303.9	-14.9	139	1948	0.00	2.38	0.00	0.000	1030	0.000	0.063	2786	2451	3266	3299	3234	0	0	0	0	0	0	28.83	14.57	28.83
2247	-0.92	-136.3	2785	2451	3299	3235	345.5	-13.3	155	2248	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2450	3266	3298	3234	0	0	0	0	0	0	28.83	28.83	28.83
2550	-0.92	-136.3	2786	2451	3299	3233	383.2	-12.4	170	2551	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2451	3265	3299	3232	0	0	0	0	0	0	28.83	28.83	28.83
2847	-0.92	-136.3	2785	2450	3299	3232	419.0	-11.8	185	2856	0.00	2.38	0.00	0.000	260	0.000	0.099	2785	3779	3265	3299	3232	0	0	0	0	0	0	28.83	14.50	28.83
2967	-0.92	-136.3	2786	3778	3298	3232	433.9	-12.6	207	2974	0.00	2.20	0.00	0.000	1030	0.000	0.054	2786	2451	3265	3299	3232	0	0	0	0	0	0	28.83	14.64	28.83
3282	-0.92	-136.3	2786	2451	3299	3232	471.7	-11.4	224	3283	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2452	3265	3299	3232	0	0	0	0	0	0	28.83	28.83	28.83
3583	-0.92	-136.3	2785	2451	3299	3232	508.2	-12.1	239	3590	0.00	2.40	0.00	0.000	260	0.000	0.095	2786	3780	3265	3298	3232	0	0	0	0	0	0	28.83	14.50	28.83
3672	-0.92	-136.3	2785	3780	3299	3231	520.2	-12.9	256	3679	0.00	2.20	0.00	0.000	1030	0.000	0.053	2785	2449	3265	3299	3232	0	0	0	0	0	0	28.83	14.63	28.83
3950	end dive: TARGET_DEPTH_EXCEEDED
state	3950	begin apogee
3956	-0.18	0.0	2786	2391	3299	3232	553.4	-12.2	272	4074	0.90	0.00	112.50	1.529	10246	0.250	0.000	3026	2391	2707	2769	2646	0	0	0	0	0	0	14.26	28.83	13.45
4076	end apogee: CONTROL_FINISHED_OK
state	4076	begin climb
4078	0.92	136.3	3027	2391	2768	2644	559.4	0.0	278	4195	1.15	0.00	113.10	1.507	10502	0.174	0.000	3369	2391	2152	2222	2082	0	0	0	0	0	0	14.04	28.83	13.13
4492	0.96	154.0	3369	2391	2209	2078	528.7	8.4	308	4513	0.08	2.55	14.88	1.368	10756	0.216	0.068	3408	979	2078	2145	2011	0	0	0	0	0	0	14.16	14.17	13.46
4614	0.96	154.0	3409	979	2142	2011	515.9	11.3	330	4621	0.00	2.42	0.00	0.000	1030	0.000	0.057	3408	2377	2076	2142	2011	0	0	0	0	0	0	28.83	14.23	28.83
4929	0.96	154.0	3409	2377	2141	2011	482.5	10.4	347	4930	0.00	0.00	0.00	0.000	6	0.000	0.000	3409	2377	2076	2141	2011	0	0	0	0	0	0	28.83	28.83	28.83
5231	0.96	154.0	3409	2377	2140	2006	451.4	10.5	362	5233	0.00	0.00	0.00	0.000	6	0.000	0.000	3409	2377	2075	2140	2011	0	0	0	0	0	0	28.83	28.83	28.83
5530	0.96	154.0	3409	2377	2141	2011	416.8	11.7	377	5539	0.00	2.45	0.00	0.000	516	0.000	0.067	3420	970	2075	2140	2011	0	0	0	0	0	0	28.83	14.52	28.83
5577	0.96	154.0	3420	971	2140	2011	410.9	11.9	385	5585	0.00	2.38	0.00	0.000	1030	0.000	0.055	3420	2377	2076	2141	2011	0	0	0	0	0	0	28.83	14.54	28.83
5904	0.96	154.0	3420	2377	2141	2011	372.3	11.8	404	5910	0.00	2.47	0.00	0.000	260	0.000	0.090	3420	3777	2076	2141	2011	0	0	0	0	0	0	28.83	14.51	28.83
5943	0.96	154.0	3420	3777	2140	2011	367.0	13.0	411	5951	0.00	2.35	0.00	0.000	1030	0.000	0.049	3431	2355	2075	2140	2011	0	0	0	0	0	0	28.83	14.62	28.83
6250	0.96	154.0	3431	2355	2141	2011	330.8	11.3	427	6256	0.00	2.33	0.00	0.000	516	0.000	0.065	3442	988	2075	2141	2010	0	0	0	0	0	0	28.83	14.58	28.83
6330	0.96	154.0	3442	988	2141	2011	321.5	11.7	442	6339	0.15	2.38	0.00	0.000	5126	0.256	0.055	3405	2386	2076	2141	2011	0	0	0	0	0	0	14.33	14.56	28.83
6637	0.99	168.2	3406	2386	2141	2011	293.0	8.5	458	6655	0.00	2.50	12.75	1.148	8452	0.000	0.090	3406	3776	2020	2084	1956	0	0	0	0	0	0	28.83	14.62	14.00
6765	0.99	168.2	3406	3775	2082	1956	279.9	10.9	481	6774	0.00	2.33	0.00	0.000	1030	0.000	0.048	3417	2367	2019	2082	1956	0	0	0	0	0	0	28.83	14.62	28.83
7071	1.00	169.4	3417	2367	2081	1956	252.0	9.1	497	7079	0.00	2.35	0.00	0.000	516	0.000	0.065	3428	983	2019	2082	1956	0	0	0	0	0	0	28.83	14.59	28.83
7184	1.00	169.4	3427	981	2082	1956	242.1	9.4	518	7190	0.00	2.35	0.00	0.000	1030	0.000	0.054	3427	2380	2019	2082	1956	0	0	0	0	0	0	28.83	14.60	28.83
7504	1.03	183.9	3427	2380	2082	1956	215.0	8.5	536	7524	0.00	0.00	14.10	1.086	8198	0.000	0.000	3428	2380	1956	2020	1893	0	0	0	0	0	0	28.83	28.83	14.02
7824	1.03	183.9	3427	2380	2018	1892	185.5	9.7	552	7825	0.00	0.00	0.00	0.000	6	0.000	0.000	3427	2380	1955	2018	1892	0	0	0	0	0	0	28.83	28.83	28.83
8125	1.03	183.9	3427	2380	2017	1892	156.4	9.8	567	8132	0.00	2.40	0.00	0.000	516	0.000	0.068	3437	988	1954	2017	1891	0	0	0	0	0	0	28.83	14.57	28.83
8180	1.03	183.9	3437	988	2018	1892	150.6	10.5	577	8188	0.00	2.35	0.00	0.000	1030	0.000	0.057	3437	2378	1954	2017	1892	0	0	0	0	0	0	28.83	14.56	28.83
8498	1.09	211.3	3437	2378	2023	1891	122.8	7.9	594	8530	0.00	2.53	23.50	1.014	8452	0.000	0.093	3437	3777	1842	1909	1775	0	0	0	0	0	0	28.83	14.57	14.04
8606	1.09	211.3	3436	3778	1906	1780	112.5	9.9	613	8614	0.00	2.33	0.00	0.000	1030	0.000	0.050	3447	2376	1842	1906	1779	0	0	0	0	0	0	28.83	14.59	28.83
8939	1.09	211.3	3447	2376	1906	1777	80.0	10.1	628	8940	0.00	0.00	0.00	0.000	6	0.000	0.000	3447	2376	1841	1906	1777	0	0	0	0	0	0	28.83	28.83	28.83
9238	1.15	240.5	3447	2375	1905	1776	54.0	7.9	638	9270	0.00	2.42	26.58	0.939	8708	0.000	0.070	3456	993	1725	1793	1658	0	0	0	0	0	0	28.83	14.58	14.04
9362	1.27	294.6	3457	993	1788	1657	44.5	6.7	660	9420	0.12	2.35	50.62	0.919	11270	0.175	0.057	3503	2378	1504	1576	1432	0	0	0	0	0	0	14.49	14.54	13.90
9708	end climb: SURFACE_DEPTH_REACHED
state	9708	begin surface coast
9719	end surface coast: CONTROL_FINISHED_OK
state	9719	begin surface