Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 394 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 217 HD_C 9.9999997e-06 ROLL_MAX 3790 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 3 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 5

DIVE 394 ESCAPE_HEADING 120 C_ROLL_DIVE 2450 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2375 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 2

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 60 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 36 XPDR_VALID 1

D_BOOST 25 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.1

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 1 VBD_MIN 500 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 DEVICE1 -1

SURFACE_URGENCY 20 NOCOMM_ACTION 161 C_VBD 2709 DEVICE2 -1

SURFACE_URGENCY_TRY 10 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 20 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE4 -1

T_DIVE 360 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 390 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0022 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 3 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 25 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 97

USE_BATHY -3 T_RSLEEP 3 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 2 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE 32

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 350 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 200 AH0_10V 0 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3880 MINV_24V 12 SIM_PITCH 0

MAX_BUOY 140 C_PITCH 3095 MINV_10V 12 SEABIRD_T_G 0.0043902649

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00063436845

GLIDE_SLOPE 40 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_T_I 2.5093383e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_T_J 2.9521423e-06

RHO 1.0275 P_OVSHOOT_WITHG 0.079999998 PRESSURE_YINT -51.110779 SEABIRD_C_G -9.69524

MASS 52199 PITCH_GAIN 28 PRESSURE_SLOPE 0.0001155691 SEABIRD_C_H 1.1253856

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_I -0.0011212705

NAV_MODE 2 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00015718494

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_PROFILE 3.0

HD_A 0.0038000001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 240 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_PITCH 1.75 PITCH_ADJ_DBAND 0 SEABIRD_T_J 2.9521423e-06

AH0_10V 0 D_SAFE 500 PITCH_ADJ_GAIN 0 SIM_PITCH 0

AH0_24V 350 D_SURF 2 PITCH_AD_RATE 160 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_CNV 0.003125763 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 28 STROBE 0

ALTIM_PING_DELTA 5 FERRY_MAX 45 PITCH_MAX 3880 SURFACE_URGENCY 20

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 20

ALTIM_PULSE 2 FG_AHR_24V 0 PITCH_MIN 200 SURFACE_URGENCY_TRY 10

ALTIM_SENSITIVITY 3 FILEMGR 2 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2.8 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0022 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 40 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 6000

APOGEE_PITCH -5 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001155691 TGT_DEFAULT_LON -5500

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -51.110779 T_ABORT 1440

CALL_TRIES 3 HD_C 9.9999997e-06 PROTOCOL 1 T_BOOST 2

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 360

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_GPS 3

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.1 RAFOS_DEVICE 32 T_GPS_ALMANAC 0

COMM_SEQ 0 ID 217 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_YINT -0.1 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 3095 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2375 LOGGERDEVICE3 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2450 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 60

C_VBD 2709 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX 3

DBDW 0 MASS 52199 ROLL_MAX 3790 USE_BATHY -3

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 2

DEVICE1 -1 MAX_BUOY 140 ROLL_MIN 240 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_PORT_OVSHOOT 60 VBD_DBAND 2

DEVICE4 -1 MISSION 3 R_STBD_OVSHOOT 36 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 394 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 N_DIVES 0 SEABIRD_C_G -9.69524 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 25 N_FILEKB 4 SEABIRD_C_H 1.1253856 VBD_TIMEOUT 720

D_CALL 3 N_GPS 25 SEABIRD_C_I -0.0011212705 W_ADJ_DBAND 0

D_FINISH 9 N_NOCOMM 6 SEABIRD_C_J 0.00015718494 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_G 0.0043902649 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_T_H 0.00063436845 XPDR_VALID 1

D_OFFGRID 100 PHONE_SUPPLY -2 SEABIRD_T_I 2.5093383e-05

Pre-dive calculations and measurements:

GPS1 221114,150623,6704.828,-5655.474,24,0.8,24,-32.6 SPEED_LIMITS 0.109,0.246

_CALLS 1 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.16 MHEAD_RNG_PITCHd_Wd 200.4,6527,-17.5,-9.167,-20.44,2275

_SM_ANGLEo -71.7 D_GRID 502

GPS2 221114,151317,6704.911,-5655.596,17,0.8,17,-32.6

Post-dive calculations and measurements:

FREEZE 1.44,1.032,-0.556,0,1,0 SC_FREEKB 3893952

FINISH 1.4,1.008159 _24V_AH 13.40,94.021

SM_CCo 9128,56.78,0.083,0,0,1282,350.04 _10V_AH 12.92,0.000

SM_GC 2.27,9.45,0.10,56.78,0.075,0.156,0.083,208,2463,1282,-8.97,-0.85,350.04,0,0,0,0,0,0,14.54,14.59,14.54 FG_AHR_24Vo 0.000

RAFOS_CLK -8 FG_AHR_10Vo 0.000

RAFOS 0,1416672068,16.033333,16.018888,62,59,54,54,51,51,181,207,122,152,113,216 MEM 143124

RAFOS_FIX 6705.093262,-5701.749023,221114,161648,2,70,0.98 DATA_FILE_SIZE 23393,668

IRIDIUM_FIX 6636.54,-5649.29,221114,122627 CAP_FILE_SIZE 110139,0

TT8_MAMPS 0.03745,0.03745 CFSIZE 1024409600,972111872

HUMID 41.73 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.60151 INTR 1,4078.43,0x23769e,2,5

TCM_TEMP 14.10 SOUNDSPEED 1472.3

XPDR_PINGS 0 CURRENT 0.211,324.16,1

ALTIM_TOP_PING 19.8,18.4 GPS 221114,174834,6704.518,-5657.290,31,0.7,31,-32.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 398 128.58 nil 0 0 0.00

Roll_motor 83 156 174.77 nil 0 0 0.00

VBD_pump_during_apogee 282 1448 5480.01 nil 0 0 0.00

VBD_pump_during_surface 56 82 62.86 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 9122 3 403.50

Iridium_during_xfer 236 144 457.48 nil 0 0 0.00

Transponder_ping 0 420 1.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 20 4.99

TT8 1486 24 474.39

LPSleep 6132 2 183.03

TT8_Active 460 23 142.56

TT8_Sampling 1315 42 725.15

TT8_CF8 234 56 169.92

TT8_Kalman 0 0 0.00

Analog_circuits 1280 15 248.18

GPS_charging 0 0 0.00

Compass 1001 5 64.71

RAFOS 2520 1 48.84

Transponder 2 30 1.02

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.92 -136.3 153 2441 1303 1230 0.0 0.0 0 82 0.00 0.00 -61.25 0.000 16386 0.000 0.000 149 2442 2803 2815 2791 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.92 -136.3 148 2442 2814 2793 3.1 -1.9 6 113 12.20 0.00 -11.55 0.000 19206 0.399 0.000 2790 2442 3266 3297 3235 0 0 0 0 0 0 14.20 28.83 14.80

431 -0.92 -136.3 2790 2441 3301 3234 62.9 -16.9 29 437 0.00 2.40 0.00 0.000 260 0.000 0.089 2786 3778 3267 3301 3233 0 0 0 0 0 0 28.83 14.47 28.83

484 -0.92 -136.3 2786 3779 3301 3234 72.1 -16.5 39 489 0.00 2.20 0.00 0.000 1030 0.000 0.050 2786 2449 3267 3301 3233 0 0 0 0 0 0 28.83 14.62 28.83

797 -0.92 -136.3 2786 2447 3301 3232 120.4 -14.6 51 803 0.00 2.38 0.00 0.000 260 0.000 0.089 2786 3774 3266 3301 3231 0 0 0 0 0 0 28.83 14.46 28.83

895 -0.92 -136.3 2786 3774 3301 3231 134.2 -13.6 70 902 0.00 2.20 0.00 0.000 1030 0.000 0.050 2786 2440 3265 3301 3230 0 0 0 0 0 0 28.83 14.64 28.83

1201 -0.92 -136.3 2786 2440 3301 3230 176.2 -13.3 86 1202 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2445 3265 3301 3229 0 0 0 0 0 0 28.83 28.83 28.83

1503 -0.92 -136.3 2786 2439 3301 3229 214.3 -12.2 101 1504 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 2440 3265 3301 3229 0 0 0 0 0 0 28.83 28.83 28.83

1802 -0.92 -136.3 2786 2439 3301 3227 247.3 -10.9 116 1809 0.00 2.40 0.00 0.000 260 0.000 0.087 2786 3774 3268 3301 3235 0 0 0 0 0 0 28.83 14.50 28.83

1891 -0.92 -136.3 2786 3774 3301 3229 257.5 -11.1 133 1897 0.00 2.17 0.00 0.000 1030 0.000 0.049 2786 2448 3265 3301 3229 0 0 0 0 0 0 28.83 14.69 28.83

2209 -0.92 -136.3 2786 2445 3301 3229 292.8 -11.0 151 2211 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2445 3265 3301 3230 0 0 0 0 0 0 28.83 28.83 28.83

2511 -0.92 -136.3 2785 2445 3301 3230 326.5 -11.7 166 2517 0.00 2.38 0.00 0.000 260 0.000 0.086 2786 3780 3266 3302 3230 0 0 0 0 0 0 28.83 14.52 28.83

2523 -0.92 -136.3 2786 3780 3301 3230 328.1 -11.5 168 2530 0.00 2.20 0.00 0.000 1030 0.000 0.047 2785 2436 3265 3301 3230 0 0 0 0 0 0 28.83 14.70 28.83

2841 -0.92 -136.3 2786 2435 3302 3230 364.7 -11.6 185 2846 0.00 2.38 0.00 0.000 260 0.000 0.085 2786 3774 3266 3302 3230 0 0 0 0 0 0 28.83 14.50 28.83

2878 -0.92 -136.3 2786 3774 3302 3230 369.6 -12.0 192 2885 0.00 2.15 0.00 0.000 1030 0.000 0.047 2786 2449 3266 3302 3230 0 0 0 0 0 0 28.83 14.69 28.83

3184 -0.92 -136.3 2786 2449 3303 3230 404.4 -11.3 208 3185 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2449 3266 3303 3230 0 0 0 0 0 0 28.83 28.83 28.83

3484 -0.92 -136.3 2785 2449 3304 3230 437.9 -11.1 223 3489 0.00 2.35 0.00 0.000 260 0.000 0.085 2786 3774 3264 3299 3229 0 0 0 0 0 0 28.83 14.50 28.83

3537 -0.92 -136.3 2786 3774 3304 3230 444.2 -11.8 233 3542 0.00 2.17 0.00 0.000 1030 0.000 0.047 2785 2450 3267 3304 3230 0 0 0 0 0 0 28.83 14.67 28.83

3850 -0.92 -136.3 2785 2449 3304 3230 479.1 -10.8 250 3855 0.00 2.35 0.00 0.000 260 0.000 0.085 2786 3774 3268 3308 3229 0 0 0 0 0 0 28.83 14.50 28.83

3873 -0.92 -136.3 2786 3774 3304 3230 481.5 -10.7 254 3879 0.00 2.15 0.00 0.000 1030 0.000 0.046 2786 2447 3267 3305 3230 0 0 0 0 0 0 28.83 14.68 28.83

4074 end dive: TARGET_DEPTH_EXCEEDED

state 4074 begin apogee

4081 -0.18 0.0 2786 2443 3305 3230 503.3 -10.8 267 4197 0.88 0.00 107.22 1.448 10246 0.232 0.000 3027 2446 2704 2773 2636 0 0 0 0 0 0 14.24 28.83 13.61

4198 end apogee: CONTROL_FINISHED_OK

state 4198 begin climb

4201 0.92 136.3 3027 2446 2772 2635 507.3 0.0 273 4322 1.12 2.55 107.40 1.418 10756 0.156 0.063 3387 1002 2148 2219 2078 0 0 0 0 0 0 14.21 14.02 13.40

4359 0.92 136.3 3387 1001 2214 2078 496.4 11.1 304 4366 0.00 2.40 0.00 0.000 1030 0.000 0.052 3387 2381 2146 2214 2078 0 0 0 0 0 0 28.83 14.13 28.83

4664 0.92 136.3 3387 2381 2212 2078 463.2 10.6 320 4671 0.00 2.38 0.00 0.000 516 0.000 0.062 3396 998 2145 2212 2078 0 0 0 0 0 0 28.83 14.44 28.83

4703 0.92 136.3 3397 998 2212 2077 459.0 10.8 327 4709 0.00 2.33 0.00 0.000 1030 0.000 0.052 3396 2377 2144 2211 2078 0 0 0 0 0 0 28.83 14.49 28.83

5009 0.92 136.3 3397 2377 2211 2078 426.8 10.3 343 5010 0.00 0.00 0.00 0.000 6 0.000 0.000 3397 2377 2142 2211 2074 0 0 0 0 0 0 28.83 28.83 28.83

5309 0.92 136.3 3396 2377 2211 2078 396.0 10.6 358 5314 0.00 2.35 0.00 0.000 516 0.000 0.061 3407 994 2144 2211 2078 0 0 0 0 0 0 28.83 14.58 28.83

5396 0.92 136.3 3407 995 2211 2078 386.3 10.9 375 5401 0.00 2.33 0.00 0.000 1030 0.000 0.052 3407 2381 2144 2211 2078 0 0 0 0 0 0 28.83 14.60 28.83

5717 0.92 136.3 3407 2381 2211 2077 349.5 11.7 393 5723 0.00 2.35 0.00 0.000 516 0.000 0.061 3418 997 2144 2211 2078 0 0 0 0 0 0 28.83 14.58 28.83

5764 0.92 136.3 3418 997 2212 2074 343.5 11.6 402 5770 0.00 2.33 0.00 0.000 1030 0.000 0.053 3417 2383 2144 2211 2078 0 0 0 0 0 0 28.83 14.62 28.83

6083 0.92 136.3 3418 2383 2211 2077 304.8 12.1 420 6089 0.00 2.35 0.00 0.000 516 0.000 0.061 3428 997 2144 2211 2078 0 0 0 0 0 0 28.83 14.59 28.83

6137 0.92 136.3 3428 997 2211 2077 298.2 12.4 430 6143 0.15 2.30 0.00 0.000 5126 0.231 0.052 3392 2375 2144 2211 2078 0 0 0 0 0 0 14.38 14.63 28.83

6451 0.92 136.3 3391 2375 2210 2078 264.7 10.5 447 6457 0.00 2.33 0.00 0.000 516 0.000 0.061 3402 996 2144 2211 2078 0 0 0 0 0 0 28.83 14.59 28.83

6508 0.92 136.3 3402 996 2211 2079 258.5 11.0 458 6515 0.00 2.33 0.00 0.000 1030 0.000 0.052 3402 2378 2144 2211 2078 0 0 0 0 0 0 28.83 14.64 28.83

6814 0.92 136.3 3402 2378 2210 2078 224.4 11.1 474 6820 0.00 2.35 0.00 0.000 516 0.000 0.061 3411 998 2144 2211 2078 0 0 0 0 0 0 28.83 14.59 28.83

6842 0.92 136.3 3409 999 2211 2078 221.2 11.3 479 6848 0.00 2.30 0.00 0.000 1030 0.000 0.051 3411 2377 2144 2211 2078 0 0 0 0 0 0 28.83 14.57 28.83

7161 0.92 136.3 3411 2377 2211 2078 187.3 10.9 497 7167 0.00 2.35 0.00 0.000 516 0.000 0.060 3422 999 2144 2211 2078 0 0 0 0 0 0 28.83 14.59 28.83

7205 0.92 136.3 3422 999 2211 2078 182.5 11.3 505 7211 0.00 2.30 0.00 0.000 1030 0.000 0.052 3422 2379 2144 2211 2078 0 0 0 0 0 0 28.83 14.64 28.83

7528 0.92 136.3 3422 2379 2211 2078 147.9 10.3 524 7529 0.00 0.00 0.00 0.000 6 0.000 0.000 3422 2379 2144 2211 2078 0 0 0 0 0 0 28.83 28.83 28.83

7830 0.92 136.3 3422 2379 2211 2078 119.7 9.2 539 7836 0.00 2.33 0.00 0.000 516 0.000 0.060 3433 999 2144 2211 2078 0 0 0 0 0 0 28.83 14.59 28.83

7913 0.92 136.3 3433 998 2211 2078 111.1 10.3 555 7919 0.15 2.30 0.00 0.000 5126 0.225 0.052 3395 2377 2144 2211 2078 0 0 0 0 0 0 14.33 14.57 28.83

8228 1.02 179.7 3391 2377 2211 2078 86.9 7.2 567 8267 0.00 2.40 32.08 0.923 8452 0.000 0.080 3395 3774 1973 2040 1906 0 0 0 0 0 0 28.83 14.67 14.12

8344 1.02 179.7 3395 3774 2037 1905 75.8 10.3 590 8350 0.00 2.30 0.00 0.000 1030 0.000 0.046 3405 2372 1970 2037 1904 0 0 0 0 0 0 28.83 14.62 28.83

8651 1.12 225.6 3406 2372 2037 1903 53.0 7.1 601 8694 0.12 2.33 35.70 0.881 10756 0.148 0.063 3477 991 1786 1854 1718 0 0 0 0 0 0 14.62 14.62 14.11

8874 1.12 225.6 3477 991 1850 1716 28.4 11.6 645 8880 0.00 2.35 0.00 0.000 1030 0.000 0.053 3477 2384 1783 1850 1716 0 0 0 0 0 0 28.83 14.56 28.83

9096 end climb: SURFACE_DEPTH_REACHED

state 9096 begin surface coast

9107 end surface coast: CONTROL_FINISHED_OK

state 9108 begin surface

ID	217	HD_C	9.9999997e-06	ROLL_MAX	3790	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	3	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	5
DIVE	394	ESCAPE_HEADING	120	C_ROLL_DIVE	2450	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2375	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	2
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	60	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	36	XPDR_VALID	1
D_BOOST	25	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.1
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	1	VBD_MIN	500	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	DEVICE1	-1
SURFACE_URGENCY	20	NOCOMM_ACTION	161	C_VBD	2709	DEVICE2	-1
SURFACE_URGENCY_TRY	10	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	20	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE4	-1
T_DIVE	360	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	390	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0022	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	3	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	25	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	97
USE_BATHY	-3	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	2	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	32
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	350	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	200	AH0_10V	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3880	MINV_24V	12	SIM_PITCH	0
MAX_BUOY	140	C_PITCH	3095	MINV_10V	12	SEABIRD_T_G	0.0043902649
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00063436845
GLIDE_SLOPE	40	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_T_I	2.5093383e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_T_J	2.9521423e-06
RHO	1.0275	P_OVSHOOT_WITHG	0.079999998	PRESSURE_YINT	-51.110779	SEABIRD_C_G	-9.69524
MASS	52199	PITCH_GAIN	28	PRESSURE_SLOPE	0.0001155691	SEABIRD_C_H	1.1253856
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0011212705
NAV_MODE	2	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00015718494
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_PROFILE	3.0
HD_A	0.0038000001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	240	ALTIM_TOP_PING_RANGE	20

GPS1	221114,150623,6704.828,-5655.474,24,0.8,24,-32.6	SPEED_LIMITS	0.109,0.246
_CALLS	1	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.16	MHEAD_RNG_PITCHd_Wd	200.4,6527,-17.5,-9.167,-20.44,2275
_SM_ANGLEo	-71.7	D_GRID	502
GPS2	221114,151317,6704.911,-5655.596,17,0.8,17,-32.6

FREEZE	1.44,1.032,-0.556,0,1,0	SC_FREEKB	3893952
FINISH	1.4,1.008159	_24V_AH	13.40,94.021
SM_CCo	9128,56.78,0.083,0,0,1282,350.04	_10V_AH	12.92,0.000
SM_GC	2.27,9.45,0.10,56.78,0.075,0.156,0.083,208,2463,1282,-8.97,-0.85,350.04,0,0,0,0,0,0,14.54,14.59,14.54	FG_AHR_24Vo	0.000
RAFOS_CLK	-8	FG_AHR_10Vo	0.000
RAFOS	0,1416672068,16.033333,16.018888,62,59,54,54,51,51,181,207,122,152,113,216	MEM	143124
RAFOS_FIX	6705.093262,-5701.749023,221114,161648,2,70,0.98	DATA_FILE_SIZE	23393,668
IRIDIUM_FIX	6636.54,-5649.29,221114,122627	CAP_FILE_SIZE	110139,0
TT8_MAMPS	0.03745,0.03745	CFSIZE	1024409600,972111872
HUMID	41.73	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.60151	INTR	1,4078.43,0x23769e,2,5
TCM_TEMP	14.10	SOUNDSPEED	1472.3
XPDR_PINGS	0	CURRENT	0.211,324.16,1
ALTIM_TOP_PING	19.8,18.4	GPS	221114,174834,6704.518,-5657.290,31,0.7,31,-32.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	398	128.58	nil	0	0	0.00
Roll_motor	83	156	174.77	nil	0	0	0.00
VBD_pump_during_apogee	282	1448	5480.01	nil	0	0	0.00
VBD_pump_during_surface	56	82	62.86	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	9122	3	403.50
Iridium_during_xfer	236	144	457.48	nil	0	0	0.00
Transponder_ping	0	420	1.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	20	4.99
TT8	1486	24	474.39
LPSleep	6132	2	183.03
TT8_Active	460	23	142.56
TT8_Sampling	1315	42	725.15
TT8_CF8	234	56	169.92
TT8_Kalman	0	0	0.00
Analog_circuits	1280	15	248.18
GPS_charging	0	0	0.00
Compass	1001	5	64.71
RAFOS	2520	1	48.84
Transponder	2	30	1.02

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.92	-136.3	153	2441	1303	1230	0.0	0.0	0	82	0.00	0.00	-61.25	0.000	16386	0.000	0.000	149	2442	2803	2815	2791	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.92	-136.3	148	2442	2814	2793	3.1	-1.9	6	113	12.20	0.00	-11.55	0.000	19206	0.399	0.000	2790	2442	3266	3297	3235	0	0	0	0	0	0	14.20	28.83	14.80
431	-0.92	-136.3	2790	2441	3301	3234	62.9	-16.9	29	437	0.00	2.40	0.00	0.000	260	0.000	0.089	2786	3778	3267	3301	3233	0	0	0	0	0	0	28.83	14.47	28.83
484	-0.92	-136.3	2786	3779	3301	3234	72.1	-16.5	39	489	0.00	2.20	0.00	0.000	1030	0.000	0.050	2786	2449	3267	3301	3233	0	0	0	0	0	0	28.83	14.62	28.83
797	-0.92	-136.3	2786	2447	3301	3232	120.4	-14.6	51	803	0.00	2.38	0.00	0.000	260	0.000	0.089	2786	3774	3266	3301	3231	0	0	0	0	0	0	28.83	14.46	28.83
895	-0.92	-136.3	2786	3774	3301	3231	134.2	-13.6	70	902	0.00	2.20	0.00	0.000	1030	0.000	0.050	2786	2440	3265	3301	3230	0	0	0	0	0	0	28.83	14.64	28.83
1201	-0.92	-136.3	2786	2440	3301	3230	176.2	-13.3	86	1202	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2445	3265	3301	3229	0	0	0	0	0	0	28.83	28.83	28.83
1503	-0.92	-136.3	2786	2439	3301	3229	214.3	-12.2	101	1504	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	2440	3265	3301	3229	0	0	0	0	0	0	28.83	28.83	28.83
1802	-0.92	-136.3	2786	2439	3301	3227	247.3	-10.9	116	1809	0.00	2.40	0.00	0.000	260	0.000	0.087	2786	3774	3268	3301	3235	0	0	0	0	0	0	28.83	14.50	28.83
1891	-0.92	-136.3	2786	3774	3301	3229	257.5	-11.1	133	1897	0.00	2.17	0.00	0.000	1030	0.000	0.049	2786	2448	3265	3301	3229	0	0	0	0	0	0	28.83	14.69	28.83
2209	-0.92	-136.3	2786	2445	3301	3229	292.8	-11.0	151	2211	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2445	3265	3301	3230	0	0	0	0	0	0	28.83	28.83	28.83
2511	-0.92	-136.3	2785	2445	3301	3230	326.5	-11.7	166	2517	0.00	2.38	0.00	0.000	260	0.000	0.086	2786	3780	3266	3302	3230	0	0	0	0	0	0	28.83	14.52	28.83
2523	-0.92	-136.3	2786	3780	3301	3230	328.1	-11.5	168	2530	0.00	2.20	0.00	0.000	1030	0.000	0.047	2785	2436	3265	3301	3230	0	0	0	0	0	0	28.83	14.70	28.83
2841	-0.92	-136.3	2786	2435	3302	3230	364.7	-11.6	185	2846	0.00	2.38	0.00	0.000	260	0.000	0.085	2786	3774	3266	3302	3230	0	0	0	0	0	0	28.83	14.50	28.83
2878	-0.92	-136.3	2786	3774	3302	3230	369.6	-12.0	192	2885	0.00	2.15	0.00	0.000	1030	0.000	0.047	2786	2449	3266	3302	3230	0	0	0	0	0	0	28.83	14.69	28.83
3184	-0.92	-136.3	2786	2449	3303	3230	404.4	-11.3	208	3185	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2449	3266	3303	3230	0	0	0	0	0	0	28.83	28.83	28.83
3484	-0.92	-136.3	2785	2449	3304	3230	437.9	-11.1	223	3489	0.00	2.35	0.00	0.000	260	0.000	0.085	2786	3774	3264	3299	3229	0	0	0	0	0	0	28.83	14.50	28.83
3537	-0.92	-136.3	2786	3774	3304	3230	444.2	-11.8	233	3542	0.00	2.17	0.00	0.000	1030	0.000	0.047	2785	2450	3267	3304	3230	0	0	0	0	0	0	28.83	14.67	28.83
3850	-0.92	-136.3	2785	2449	3304	3230	479.1	-10.8	250	3855	0.00	2.35	0.00	0.000	260	0.000	0.085	2786	3774	3268	3308	3229	0	0	0	0	0	0	28.83	14.50	28.83
3873	-0.92	-136.3	2786	3774	3304	3230	481.5	-10.7	254	3879	0.00	2.15	0.00	0.000	1030	0.000	0.046	2786	2447	3267	3305	3230	0	0	0	0	0	0	28.83	14.68	28.83
4074	end dive: TARGET_DEPTH_EXCEEDED
state	4074	begin apogee
4081	-0.18	0.0	2786	2443	3305	3230	503.3	-10.8	267	4197	0.88	0.00	107.22	1.448	10246	0.232	0.000	3027	2446	2704	2773	2636	0	0	0	0	0	0	14.24	28.83	13.61
4198	end apogee: CONTROL_FINISHED_OK
state	4198	begin climb
4201	0.92	136.3	3027	2446	2772	2635	507.3	0.0	273	4322	1.12	2.55	107.40	1.418	10756	0.156	0.063	3387	1002	2148	2219	2078	0	0	0	0	0	0	14.21	14.02	13.40
4359	0.92	136.3	3387	1001	2214	2078	496.4	11.1	304	4366	0.00	2.40	0.00	0.000	1030	0.000	0.052	3387	2381	2146	2214	2078	0	0	0	0	0	0	28.83	14.13	28.83
4664	0.92	136.3	3387	2381	2212	2078	463.2	10.6	320	4671	0.00	2.38	0.00	0.000	516	0.000	0.062	3396	998	2145	2212	2078	0	0	0	0	0	0	28.83	14.44	28.83
4703	0.92	136.3	3397	998	2212	2077	459.0	10.8	327	4709	0.00	2.33	0.00	0.000	1030	0.000	0.052	3396	2377	2144	2211	2078	0	0	0	0	0	0	28.83	14.49	28.83
5009	0.92	136.3	3397	2377	2211	2078	426.8	10.3	343	5010	0.00	0.00	0.00	0.000	6	0.000	0.000	3397	2377	2142	2211	2074	0	0	0	0	0	0	28.83	28.83	28.83
5309	0.92	136.3	3396	2377	2211	2078	396.0	10.6	358	5314	0.00	2.35	0.00	0.000	516	0.000	0.061	3407	994	2144	2211	2078	0	0	0	0	0	0	28.83	14.58	28.83
5396	0.92	136.3	3407	995	2211	2078	386.3	10.9	375	5401	0.00	2.33	0.00	0.000	1030	0.000	0.052	3407	2381	2144	2211	2078	0	0	0	0	0	0	28.83	14.60	28.83
5717	0.92	136.3	3407	2381	2211	2077	349.5	11.7	393	5723	0.00	2.35	0.00	0.000	516	0.000	0.061	3418	997	2144	2211	2078	0	0	0	0	0	0	28.83	14.58	28.83
5764	0.92	136.3	3418	997	2212	2074	343.5	11.6	402	5770	0.00	2.33	0.00	0.000	1030	0.000	0.053	3417	2383	2144	2211	2078	0	0	0	0	0	0	28.83	14.62	28.83
6083	0.92	136.3	3418	2383	2211	2077	304.8	12.1	420	6089	0.00	2.35	0.00	0.000	516	0.000	0.061	3428	997	2144	2211	2078	0	0	0	0	0	0	28.83	14.59	28.83
6137	0.92	136.3	3428	997	2211	2077	298.2	12.4	430	6143	0.15	2.30	0.00	0.000	5126	0.231	0.052	3392	2375	2144	2211	2078	0	0	0	0	0	0	14.38	14.63	28.83
6451	0.92	136.3	3391	2375	2210	2078	264.7	10.5	447	6457	0.00	2.33	0.00	0.000	516	0.000	0.061	3402	996	2144	2211	2078	0	0	0	0	0	0	28.83	14.59	28.83
6508	0.92	136.3	3402	996	2211	2079	258.5	11.0	458	6515	0.00	2.33	0.00	0.000	1030	0.000	0.052	3402	2378	2144	2211	2078	0	0	0	0	0	0	28.83	14.64	28.83
6814	0.92	136.3	3402	2378	2210	2078	224.4	11.1	474	6820	0.00	2.35	0.00	0.000	516	0.000	0.061	3411	998	2144	2211	2078	0	0	0	0	0	0	28.83	14.59	28.83
6842	0.92	136.3	3409	999	2211	2078	221.2	11.3	479	6848	0.00	2.30	0.00	0.000	1030	0.000	0.051	3411	2377	2144	2211	2078	0	0	0	0	0	0	28.83	14.57	28.83
7161	0.92	136.3	3411	2377	2211	2078	187.3	10.9	497	7167	0.00	2.35	0.00	0.000	516	0.000	0.060	3422	999	2144	2211	2078	0	0	0	0	0	0	28.83	14.59	28.83
7205	0.92	136.3	3422	999	2211	2078	182.5	11.3	505	7211	0.00	2.30	0.00	0.000	1030	0.000	0.052	3422	2379	2144	2211	2078	0	0	0	0	0	0	28.83	14.64	28.83
7528	0.92	136.3	3422	2379	2211	2078	147.9	10.3	524	7529	0.00	0.00	0.00	0.000	6	0.000	0.000	3422	2379	2144	2211	2078	0	0	0	0	0	0	28.83	28.83	28.83
7830	0.92	136.3	3422	2379	2211	2078	119.7	9.2	539	7836	0.00	2.33	0.00	0.000	516	0.000	0.060	3433	999	2144	2211	2078	0	0	0	0	0	0	28.83	14.59	28.83
7913	0.92	136.3	3433	998	2211	2078	111.1	10.3	555	7919	0.15	2.30	0.00	0.000	5126	0.225	0.052	3395	2377	2144	2211	2078	0	0	0	0	0	0	14.33	14.57	28.83
8228	1.02	179.7	3391	2377	2211	2078	86.9	7.2	567	8267	0.00	2.40	32.08	0.923	8452	0.000	0.080	3395	3774	1973	2040	1906	0	0	0	0	0	0	28.83	14.67	14.12
8344	1.02	179.7	3395	3774	2037	1905	75.8	10.3	590	8350	0.00	2.30	0.00	0.000	1030	0.000	0.046	3405	2372	1970	2037	1904	0	0	0	0	0	0	28.83	14.62	28.83
8651	1.12	225.6	3406	2372	2037	1903	53.0	7.1	601	8694	0.12	2.33	35.70	0.881	10756	0.148	0.063	3477	991	1786	1854	1718	0	0	0	0	0	0	14.62	14.62	14.11
8874	1.12	225.6	3477	991	1850	1716	28.4	11.6	645	8880	0.00	2.35	0.00	0.000	1030	0.000	0.053	3477	2384	1783	1850	1716	0	0	0	0	0	0	28.83	14.56	28.83
9096	end climb: SURFACE_DEPTH_REACHED
state	9096	begin surface coast
9107	end surface coast: CONTROL_FINISHED_OK
state	9108	begin surface