Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 306 * 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 306 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 62 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 40 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 62 VBD_DBAND 2

DEVICE4 -1 MISSION 3 R_STBD_OVSHOOT 40 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 306 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 081114,171204,6642.691,-6006.091,24,0.8,24,-32.9 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 2.54 MHEAD_RNG_PITCHd_Wd 131.4,148000,-17.5,-9.167,-20.44,2275

_SM_ANGLEo -72.3 D_GRID 600

GPS2 081114,171753,6642.675,-6006.205,5,0.9,5,-32.9

Post-dive calculations and measurements:

FINISH 1.7,1.014245 _10V_AH 12.82,0.000

SM_CCo 10124,57.38,0.093,0,0,1283,350.04 FG_AHR_24Vo 0.000

SM_GC 2.53,9.57,0.10,57.38,0.086,0.155,0.093,202,2464,1283,-9.00,-0.90,350.04,0,0,0,0,0,0,14.49,14.54,14.50 FG_AHR_10Vo 0.000

RAFOS_CLK -124 MEM 143116

RAFOS_FIX 6641.757324,-5954.744629,081114,161636,4,104,1.05 DATA_FILE_SIZE 26699,724

IRIDIUM_FIX 6614.97,-5929.30,081114,140553 CAP_FILE_SIZE 114246,0

TT8_MAMPS 0.039697,0.039697 CFSIZE 1024409600,982122496

HUMID 43.58 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.45502 INTR 0,11390.24,0x23769e,7,5

TCM_TEMP 12.10 SOUNDSPEED 1451.7

XPDR_PINGS 0 EKF 10252,4002.314453,-3602.587158,1.729895,-0.000201,0.001728,-0.025378,0.000150,0.000960,0.000099,0.000025,0.000025,0.000050

SC_FREEKB 3922112 CURRENT 0.466,190.90,1

_24V_AH 13.08,74.810 GPS 081114,200918,6639.771,-6003.826,14,0.7,14,-32.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 415 133.80 nil 0 0 0.00

Roll_motor 86 161 181.68 nil 0 0 0.00

VBD_pump_during_apogee 303 1611 6403.05 nil 0 0 0.00

VBD_pump_during_surface 57 92 69.47 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 10118 3 431.84

Iridium_during_xfer 197 151 391.79 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 1.86

TT8 2221 24 703.36

LPSleep 6231 2 184.53

TT8_Active 557 23 171.31

TT8_Sampling 1349 42 738.19

TT8_CF8 189 56 136.69

TT8_Kalman 0 0 0.00

Analog_circuits 1353 15 260.25

GPS_charging 0 0 0.00

Compass 1082 5 69.36

RAFOS 360 1 6.92

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 -136.3 178 2462 1305 1226 0.0 0.0 0 73 0.00 0.00 -52.53 0.000 16386 0.000 0.000 175 2463 2570 2583 2558 0 0 0 0 0 0 28.83 28.83 28.83

76 -0.92 -136.3 175 2463 2583 2559 3.2 -1.5 5 117 12.50 2.45 -19.05 0.000 18948 0.415 0.090 2791 1065 3266 3297 3236 0 0 0 0 0 0 14.15 14.45 14.71

273 -0.92 -136.3 2790 1066 3301 3236 37.6 -19.0 41 280 0.00 2.38 0.00 0.000 1030 0.000 0.064 2786 2435 3268 3301 3236 0 0 0 0 0 0 28.83 14.47 28.83

609 -0.92 -136.3 2786 2435 3302 3236 96.6 -16.8 57 616 0.00 2.42 0.00 0.000 260 0.000 0.097 2786 3784 3268 3301 3236 0 0 0 0 0 0 28.83 14.46 28.83

706 -0.92 -136.3 2781 3784 3301 3236 112.9 -16.2 75 714 0.00 2.22 0.00 0.000 1030 0.000 0.053 2786 2444 3268 3301 3235 0 0 0 0 0 0 28.83 14.60 28.83

1033 -0.92 -136.3 2786 2444 3301 3235 162.7 -15.6 95 1041 0.00 2.35 0.00 0.000 516 0.000 0.067 2786 1072 3268 3301 3236 0 0 0 0 0 0 28.83 14.54 28.83

1085 -0.92 -136.3 2786 1072 3302 3236 171.0 -16.5 104 1092 0.00 2.38 0.00 0.000 1030 0.000 0.063 2785 2452 3269 3302 3236 0 0 0 0 0 0 28.83 14.54 28.83

1405 -0.92 -136.3 2786 2452 3302 3236 223.6 -16.0 122 1406 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2452 3268 3301 3236 0 0 0 0 0 0 28.83 28.83 28.83

1706 -0.92 -136.3 2786 2452 3301 3235 267.5 -14.0 137 1708 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2452 3269 3302 3236 0 0 0 0 0 0 28.83 28.83 28.83

2007 -0.92 -136.3 2786 2452 3302 3235 306.6 -12.5 152 2014 0.00 2.40 0.00 0.000 516 0.000 0.067 2785 1065 3268 3301 3236 0 0 0 0 0 0 28.83 14.57 28.83

2097 -0.92 -136.3 2785 1065 3302 3235 318.9 -14.2 168 2103 0.00 2.38 0.00 0.000 1030 0.000 0.064 2785 2450 3269 3302 3236 0 0 0 0 0 0 28.83 14.57 28.83

2422 -0.92 -136.3 2786 2450 3301 3234 363.0 -13.8 187 2423 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2450 3267 3301 3234 0 0 0 0 0 0 28.83 28.83 28.83

2724 -0.92 -136.3 2785 2450 3301 3234 402.7 -12.9 202 2725 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2450 3267 3301 3234 0 0 0 0 0 0 28.83 28.83 28.83

3023 -0.92 -136.3 2786 2450 3302 3234 438.9 -11.9 217 3030 0.00 2.40 0.00 0.000 516 0.000 0.067 2785 1060 3267 3302 3233 0 0 0 0 0 0 28.83 14.57 28.83

3059 -0.92 -136.3 2785 1060 3302 3233 443.4 -12.2 223 3067 0.00 2.40 0.00 0.000 1030 0.000 0.064 2785 2457 3267 3301 3233 0 0 0 0 0 0 28.83 14.59 28.83

3376 -0.92 -136.3 2785 2457 3301 3233 479.6 -11.4 240 3383 0.00 2.38 0.00 0.000 260 0.000 0.096 2786 3784 3266 3301 3232 0 0 0 0 0 0 28.83 14.50 28.83

3571 -0.92 -136.3 2785 3781 3302 3233 502.8 -11.4 276 3577 0.00 2.20 0.00 0.000 1030 0.000 0.053 2785 2454 3267 3301 3233 0 0 0 0 0 0 28.83 14.66 28.83

3896 -0.92 -136.3 2786 2453 3302 3233 540.9 -12.6 295 3897 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2453 3267 3302 3233 0 0 0 0 0 0 28.83 28.83 28.83

4197 -0.92 -136.3 2786 2453 3302 3233 572.4 -10.3 310 4198 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2453 3267 3302 3233 0 0 0 0 0 0 28.83 28.83 28.83

4454 end dive: TARGET_DEPTH_EXCEEDED

state 4454 begin apogee

4460 -0.18 0.0 2786 2384 3302 3233 601.8 -10.2 323 4577 0.88 0.00 111.68 1.611 10246 0.232 0.000 3027 2384 2710 2771 2649 0 0 0 0 0 0 14.30 28.83 13.44

4578 end apogee: CONTROL_FINISHED_OK

state 4578 begin climb

4580 0.92 136.3 3028 2384 2770 2646 605.1 0.0 329 4699 1.15 0.00 114.10 1.570 10502 0.171 0.000 3369 2384 2150 2221 2080 0 0 0 0 0 0 14.03 28.83 13.08

4996 1.02 179.3 3369 2384 2211 2079 574.0 7.2 353 5042 0.12 2.50 35.75 1.497 10756 0.157 0.072 3434 983 1979 2043 1915 0 0 0 0 0 0 14.14 14.02 13.37

5131 1.02 179.3 3434 984 2038 1909 557.4 13.1 377 5138 0.00 2.45 0.00 0.000 1030 0.000 0.057 3434 2381 1973 2038 1909 0 0 0 0 0 0 28.83 14.14 28.83

5457 1.02 179.3 3434 2381 2036 1908 513.0 14.1 396 5464 0.00 2.45 0.00 0.000 516 0.000 0.066 3445 981 1972 2036 1908 0 0 0 0 0 0 28.83 14.37 28.83

5514 1.02 179.3 3445 981 2036 1908 505.0 13.7 406 5521 0.00 2.40 0.00 0.000 1030 0.000 0.055 3445 2380 1971 2036 1907 0 0 0 0 0 0 28.83 14.42 28.83

5829 1.02 179.3 3445 2380 2035 1908 462.6 13.6 423 5837 0.00 2.42 0.00 0.000 516 0.000 0.066 3456 980 1972 2036 1908 0 0 0 0 0 0 28.83 14.49 28.83

5855 1.02 179.3 3456 980 2035 1908 458.7 13.9 427 5864 0.12 2.38 0.00 0.000 5126 0.270 0.055 3427 2377 1971 2035 1908 0 0 0 0 0 0 14.29 14.51 28.83

6183 1.02 179.3 3428 2376 2036 1908 414.4 13.3 446 6189 0.00 2.50 0.00 0.000 260 0.000 0.090 3429 3783 1971 2035 1908 0 0 0 0 0 0 28.83 14.50 28.83

6212 1.02 179.3 3428 3783 2035 1908 410.1 14.3 451 6220 0.00 2.38 0.00 0.000 1030 0.000 0.049 3438 2353 1971 2035 1908 0 0 0 0 0 0 28.83 14.61 28.83

6533 1.02 179.3 3438 2352 2035 1908 367.6 13.5 469 6540 0.00 2.35 0.00 0.000 516 0.000 0.066 3449 988 1972 2036 1908 0 0 0 0 0 0 28.83 14.57 28.83

6599 1.02 179.3 3449 987 2043 1914 358.4 13.9 481 6605 0.00 2.35 0.00 0.000 1030 0.000 0.055 3449 2380 1972 2036 1908 0 0 0 0 0 0 28.83 14.59 28.83

6925 1.02 179.3 3448 2380 2036 1908 315.2 13.3 500 6932 0.00 2.47 0.00 0.000 260 0.000 0.090 3449 3778 1971 2035 1908 0 0 0 0 0 0 28.83 14.53 28.83

6951 1.02 179.3 3449 3777 2036 1908 311.5 14.0 504 6959 0.15 2.33 0.00 0.000 5126 0.269 0.049 3425 2367 1972 2036 1908 0 0 0 0 0 0 14.35 14.66 28.83

7277 1.02 179.3 3425 2366 2035 1908 274.5 10.2 523 7285 0.00 2.38 0.00 0.000 516 0.000 0.066 3435 982 1972 2036 1908 0 0 0 0 0 0 28.83 14.59 28.83

7333 1.02 179.3 3435 982 2035 1908 268.5 11.1 533 7339 0.00 2.35 0.00 0.000 1030 0.000 0.056 3435 2374 1972 2036 1908 0 0 0 0 0 0 28.83 14.62 28.83

7647 1.02 179.3 3435 2375 2036 1908 235.0 10.5 550 7654 0.00 2.38 0.00 0.000 516 0.000 0.065 3446 993 1972 2036 1908 0 0 0 0 0 0 28.83 14.59 28.83

7698 1.02 179.3 3447 992 2036 1908 230.0 10.6 559 7706 0.00 2.35 0.00 0.000 1030 0.000 0.056 3446 2383 1972 2036 1908 0 0 0 0 0 0 28.83 14.62 28.83

8019 1.02 179.3 3448 2383 2036 1908 196.1 10.6 577 8020 0.00 0.00 0.00 0.000 6 0.000 0.000 3445 2383 1972 2036 1908 0 0 0 0 0 0 28.83 28.83 28.83

8321 1.02 179.3 3446 2383 2036 1908 163.4 11.5 592 8328 0.00 2.40 0.00 0.000 516 0.000 0.068 3457 994 1972 2036 1908 0 0 0 0 0 0 28.83 14.59 28.83

8442 1.02 179.3 3457 994 2036 1908 149.8 11.6 614 8449 0.12 2.35 0.00 0.000 5126 0.266 0.057 3427 2381 1972 2036 1908 0 0 0 0 0 0 14.38 14.62 28.83

8757 1.05 193.1 3427 2381 2035 1908 120.7 8.5 631 8778 0.00 2.50 11.90 0.986 8452 0.000 0.092 3427 3773 1918 1981 1856 0 0 0 0 0 0 28.83 14.64 14.06

8805 1.05 193.1 3428 3773 1981 1856 116.0 10.2 639 8814 0.00 2.30 0.00 0.000 1030 0.000 0.050 3438 2372 1918 1981 1856 0 0 0 0 0 0 28.83 14.68 28.83

9133 1.05 193.1 3438 2372 1981 1855 85.6 9.5 653 9140 0.00 2.35 0.00 0.000 516 0.000 0.066 3449 995 1917 1981 1854 0 0 0 0 0 0 28.83 14.56 28.83

9218 1.05 193.1 3449 995 1981 1854 77.0 9.9 669 9224 0.00 2.35 0.00 0.000 1030 0.000 0.058 3449 2381 1918 1981 1855 0 0 0 0 0 0 28.83 14.59 28.83

9533 1.08 207.2 3449 2381 1980 1854 48.7 8.5 681 9549 0.00 0.00 13.35 0.930 8198 0.000 0.000 3449 2381 1865 1929 1801 0 0 0 0 0 0 28.83 28.83 14.07

9833 1.12 224.5 3448 2381 1925 1796 26.2 8.4 691 9854 0.00 2.47 14.65 0.908 8708 0.000 0.069 3459 985 1790 1856 1724 0 0 0 0 0 0 28.83 14.61 14.07

9907 1.13 230.6 3459 985 1854 1723 19.7 8.9 704 9916 0.00 2.38 2.42 0.155 9222 0.000 0.057 3459 2381 1771 1838 1704 0 0 0 0 0 0 28.83 14.52 14.43

10082 end climb: SURFACE_DEPTH_REACHED

state 10082 begin surface coast

10105 end surface coast: CONTROL_FINISHED_OK

state 10105 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	306	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	62	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	40	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	081114,171204,6642.691,-6006.091,24,0.8,24,-32.9	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	2.54	MHEAD_RNG_PITCHd_Wd	131.4,148000,-17.5,-9.167,-20.44,2275
_SM_ANGLEo	-72.3	D_GRID	600
GPS2	081114,171753,6642.675,-6006.205,5,0.9,5,-32.9

FINISH	1.7,1.014245	_10V_AH	12.82,0.000
SM_CCo	10124,57.38,0.093,0,0,1283,350.04	FG_AHR_24Vo	0.000
SM_GC	2.53,9.57,0.10,57.38,0.086,0.155,0.093,202,2464,1283,-9.00,-0.90,350.04,0,0,0,0,0,0,14.49,14.54,14.50	FG_AHR_10Vo	0.000
RAFOS_CLK	-124	MEM	143116
RAFOS_FIX	6641.757324,-5954.744629,081114,161636,4,104,1.05	DATA_FILE_SIZE	26699,724
IRIDIUM_FIX	6614.97,-5929.30,081114,140553	CAP_FILE_SIZE	114246,0
TT8_MAMPS	0.039697,0.039697	CFSIZE	1024409600,982122496
HUMID	43.58	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.45502	INTR	0,11390.24,0x23769e,7,5
TCM_TEMP	12.10	SOUNDSPEED	1451.7
XPDR_PINGS	0	EKF	10252,4002.314453,-3602.587158,1.729895,-0.000201,0.001728,-0.025378,0.000150,0.000960,0.000099,0.000025,0.000025,0.000050
SC_FREEKB	3922112	CURRENT	0.466,190.90,1
_24V_AH	13.08,74.810	GPS	081114,200918,6639.771,-6003.826,14,0.7,14,-32.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	415	133.80	nil	0	0	0.00
Roll_motor	86	161	181.68	nil	0	0	0.00
VBD_pump_during_apogee	303	1611	6403.05	nil	0	0	0.00
VBD_pump_during_surface	57	92	69.47	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	10118	3	431.84
Iridium_during_xfer	197	151	391.79	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	1.86
TT8	2221	24	703.36
LPSleep	6231	2	184.53
TT8_Active	557	23	171.31
TT8_Sampling	1349	42	738.19
TT8_CF8	189	56	136.69
TT8_Kalman	0	0	0.00
Analog_circuits	1353	15	260.25
GPS_charging	0	0	0.00
Compass	1082	5	69.36
RAFOS	360	1	6.92
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	178	2462	1305	1226	0.0	0.0	0	73	0.00	0.00	-52.53	0.000	16386	0.000	0.000	175	2463	2570	2583	2558	0	0	0	0	0	0	28.83	28.83	28.83
76	-0.92	-136.3	175	2463	2583	2559	3.2	-1.5	5	117	12.50	2.45	-19.05	0.000	18948	0.415	0.090	2791	1065	3266	3297	3236	0	0	0	0	0	0	14.15	14.45	14.71
273	-0.92	-136.3	2790	1066	3301	3236	37.6	-19.0	41	280	0.00	2.38	0.00	0.000	1030	0.000	0.064	2786	2435	3268	3301	3236	0	0	0	0	0	0	28.83	14.47	28.83
609	-0.92	-136.3	2786	2435	3302	3236	96.6	-16.8	57	616	0.00	2.42	0.00	0.000	260	0.000	0.097	2786	3784	3268	3301	3236	0	0	0	0	0	0	28.83	14.46	28.83
706	-0.92	-136.3	2781	3784	3301	3236	112.9	-16.2	75	714	0.00	2.22	0.00	0.000	1030	0.000	0.053	2786	2444	3268	3301	3235	0	0	0	0	0	0	28.83	14.60	28.83
1033	-0.92	-136.3	2786	2444	3301	3235	162.7	-15.6	95	1041	0.00	2.35	0.00	0.000	516	0.000	0.067	2786	1072	3268	3301	3236	0	0	0	0	0	0	28.83	14.54	28.83
1085	-0.92	-136.3	2786	1072	3302	3236	171.0	-16.5	104	1092	0.00	2.38	0.00	0.000	1030	0.000	0.063	2785	2452	3269	3302	3236	0	0	0	0	0	0	28.83	14.54	28.83
1405	-0.92	-136.3	2786	2452	3302	3236	223.6	-16.0	122	1406	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2452	3268	3301	3236	0	0	0	0	0	0	28.83	28.83	28.83
1706	-0.92	-136.3	2786	2452	3301	3235	267.5	-14.0	137	1708	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2452	3269	3302	3236	0	0	0	0	0	0	28.83	28.83	28.83
2007	-0.92	-136.3	2786	2452	3302	3235	306.6	-12.5	152	2014	0.00	2.40	0.00	0.000	516	0.000	0.067	2785	1065	3268	3301	3236	0	0	0	0	0	0	28.83	14.57	28.83
2097	-0.92	-136.3	2785	1065	3302	3235	318.9	-14.2	168	2103	0.00	2.38	0.00	0.000	1030	0.000	0.064	2785	2450	3269	3302	3236	0	0	0	0	0	0	28.83	14.57	28.83
2422	-0.92	-136.3	2786	2450	3301	3234	363.0	-13.8	187	2423	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2450	3267	3301	3234	0	0	0	0	0	0	28.83	28.83	28.83
2724	-0.92	-136.3	2785	2450	3301	3234	402.7	-12.9	202	2725	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2450	3267	3301	3234	0	0	0	0	0	0	28.83	28.83	28.83
3023	-0.92	-136.3	2786	2450	3302	3234	438.9	-11.9	217	3030	0.00	2.40	0.00	0.000	516	0.000	0.067	2785	1060	3267	3302	3233	0	0	0	0	0	0	28.83	14.57	28.83
3059	-0.92	-136.3	2785	1060	3302	3233	443.4	-12.2	223	3067	0.00	2.40	0.00	0.000	1030	0.000	0.064	2785	2457	3267	3301	3233	0	0	0	0	0	0	28.83	14.59	28.83
3376	-0.92	-136.3	2785	2457	3301	3233	479.6	-11.4	240	3383	0.00	2.38	0.00	0.000	260	0.000	0.096	2786	3784	3266	3301	3232	0	0	0	0	0	0	28.83	14.50	28.83
3571	-0.92	-136.3	2785	3781	3302	3233	502.8	-11.4	276	3577	0.00	2.20	0.00	0.000	1030	0.000	0.053	2785	2454	3267	3301	3233	0	0	0	0	0	0	28.83	14.66	28.83
3896	-0.92	-136.3	2786	2453	3302	3233	540.9	-12.6	295	3897	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2453	3267	3302	3233	0	0	0	0	0	0	28.83	28.83	28.83
4197	-0.92	-136.3	2786	2453	3302	3233	572.4	-10.3	310	4198	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2453	3267	3302	3233	0	0	0	0	0	0	28.83	28.83	28.83
4454	end dive: TARGET_DEPTH_EXCEEDED
state	4454	begin apogee
4460	-0.18	0.0	2786	2384	3302	3233	601.8	-10.2	323	4577	0.88	0.00	111.68	1.611	10246	0.232	0.000	3027	2384	2710	2771	2649	0	0	0	0	0	0	14.30	28.83	13.44
4578	end apogee: CONTROL_FINISHED_OK
state	4578	begin climb
4580	0.92	136.3	3028	2384	2770	2646	605.1	0.0	329	4699	1.15	0.00	114.10	1.570	10502	0.171	0.000	3369	2384	2150	2221	2080	0	0	0	0	0	0	14.03	28.83	13.08
4996	1.02	179.3	3369	2384	2211	2079	574.0	7.2	353	5042	0.12	2.50	35.75	1.497	10756	0.157	0.072	3434	983	1979	2043	1915	0	0	0	0	0	0	14.14	14.02	13.37
5131	1.02	179.3	3434	984	2038	1909	557.4	13.1	377	5138	0.00	2.45	0.00	0.000	1030	0.000	0.057	3434	2381	1973	2038	1909	0	0	0	0	0	0	28.83	14.14	28.83
5457	1.02	179.3	3434	2381	2036	1908	513.0	14.1	396	5464	0.00	2.45	0.00	0.000	516	0.000	0.066	3445	981	1972	2036	1908	0	0	0	0	0	0	28.83	14.37	28.83
5514	1.02	179.3	3445	981	2036	1908	505.0	13.7	406	5521	0.00	2.40	0.00	0.000	1030	0.000	0.055	3445	2380	1971	2036	1907	0	0	0	0	0	0	28.83	14.42	28.83
5829	1.02	179.3	3445	2380	2035	1908	462.6	13.6	423	5837	0.00	2.42	0.00	0.000	516	0.000	0.066	3456	980	1972	2036	1908	0	0	0	0	0	0	28.83	14.49	28.83
5855	1.02	179.3	3456	980	2035	1908	458.7	13.9	427	5864	0.12	2.38	0.00	0.000	5126	0.270	0.055	3427	2377	1971	2035	1908	0	0	0	0	0	0	14.29	14.51	28.83
6183	1.02	179.3	3428	2376	2036	1908	414.4	13.3	446	6189	0.00	2.50	0.00	0.000	260	0.000	0.090	3429	3783	1971	2035	1908	0	0	0	0	0	0	28.83	14.50	28.83
6212	1.02	179.3	3428	3783	2035	1908	410.1	14.3	451	6220	0.00	2.38	0.00	0.000	1030	0.000	0.049	3438	2353	1971	2035	1908	0	0	0	0	0	0	28.83	14.61	28.83
6533	1.02	179.3	3438	2352	2035	1908	367.6	13.5	469	6540	0.00	2.35	0.00	0.000	516	0.000	0.066	3449	988	1972	2036	1908	0	0	0	0	0	0	28.83	14.57	28.83
6599	1.02	179.3	3449	987	2043	1914	358.4	13.9	481	6605	0.00	2.35	0.00	0.000	1030	0.000	0.055	3449	2380	1972	2036	1908	0	0	0	0	0	0	28.83	14.59	28.83
6925	1.02	179.3	3448	2380	2036	1908	315.2	13.3	500	6932	0.00	2.47	0.00	0.000	260	0.000	0.090	3449	3778	1971	2035	1908	0	0	0	0	0	0	28.83	14.53	28.83
6951	1.02	179.3	3449	3777	2036	1908	311.5	14.0	504	6959	0.15	2.33	0.00	0.000	5126	0.269	0.049	3425	2367	1972	2036	1908	0	0	0	0	0	0	14.35	14.66	28.83
7277	1.02	179.3	3425	2366	2035	1908	274.5	10.2	523	7285	0.00	2.38	0.00	0.000	516	0.000	0.066	3435	982	1972	2036	1908	0	0	0	0	0	0	28.83	14.59	28.83
7333	1.02	179.3	3435	982	2035	1908	268.5	11.1	533	7339	0.00	2.35	0.00	0.000	1030	0.000	0.056	3435	2374	1972	2036	1908	0	0	0	0	0	0	28.83	14.62	28.83
7647	1.02	179.3	3435	2375	2036	1908	235.0	10.5	550	7654	0.00	2.38	0.00	0.000	516	0.000	0.065	3446	993	1972	2036	1908	0	0	0	0	0	0	28.83	14.59	28.83
7698	1.02	179.3	3447	992	2036	1908	230.0	10.6	559	7706	0.00	2.35	0.00	0.000	1030	0.000	0.056	3446	2383	1972	2036	1908	0	0	0	0	0	0	28.83	14.62	28.83
8019	1.02	179.3	3448	2383	2036	1908	196.1	10.6	577	8020	0.00	0.00	0.00	0.000	6	0.000	0.000	3445	2383	1972	2036	1908	0	0	0	0	0	0	28.83	28.83	28.83
8321	1.02	179.3	3446	2383	2036	1908	163.4	11.5	592	8328	0.00	2.40	0.00	0.000	516	0.000	0.068	3457	994	1972	2036	1908	0	0	0	0	0	0	28.83	14.59	28.83
8442	1.02	179.3	3457	994	2036	1908	149.8	11.6	614	8449	0.12	2.35	0.00	0.000	5126	0.266	0.057	3427	2381	1972	2036	1908	0	0	0	0	0	0	14.38	14.62	28.83
8757	1.05	193.1	3427	2381	2035	1908	120.7	8.5	631	8778	0.00	2.50	11.90	0.986	8452	0.000	0.092	3427	3773	1918	1981	1856	0	0	0	0	0	0	28.83	14.64	14.06
8805	1.05	193.1	3428	3773	1981	1856	116.0	10.2	639	8814	0.00	2.30	0.00	0.000	1030	0.000	0.050	3438	2372	1918	1981	1856	0	0	0	0	0	0	28.83	14.68	28.83
9133	1.05	193.1	3438	2372	1981	1855	85.6	9.5	653	9140	0.00	2.35	0.00	0.000	516	0.000	0.066	3449	995	1917	1981	1854	0	0	0	0	0	0	28.83	14.56	28.83
9218	1.05	193.1	3449	995	1981	1854	77.0	9.9	669	9224	0.00	2.35	0.00	0.000	1030	0.000	0.058	3449	2381	1918	1981	1855	0	0	0	0	0	0	28.83	14.59	28.83
9533	1.08	207.2	3449	2381	1980	1854	48.7	8.5	681	9549	0.00	0.00	13.35	0.930	8198	0.000	0.000	3449	2381	1865	1929	1801	0	0	0	0	0	0	28.83	28.83	14.07
9833	1.12	224.5	3448	2381	1925	1796	26.2	8.4	691	9854	0.00	2.47	14.65	0.908	8708	0.000	0.069	3459	985	1790	1856	1724	0	0	0	0	0	0	28.83	14.61	14.07
9907	1.13	230.6	3459	985	1854	1723	19.7	8.9	704	9916	0.00	2.38	2.42	0.155	9222	0.000	0.057	3459	2381	1771	1838	1704	0	0	0	0	0	0	28.83	14.52	14.43
10082	end climb: SURFACE_DEPTH_REACHED
state	10082	begin surface coast
10105	end surface coast: CONTROL_FINISHED_OK
state	10105	begin surface