Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 401 * 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 401 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 61 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 27 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 61 VBD_DBAND 2

DEVICE4 -1 MISSION 3 R_STBD_OVSHOOT 27 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 401 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 231114,111605,6703.486,-5651.222,12,1.0,12,-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 2.09 MHEAD_RNG_PITCHd_Wd 175.0,2386,-17.5,-9.167,-20.44,2275

_SM_ANGLEo -69.0 D_GRID 515

GPS2 231114,112329,6703.430,-5651.115,5,1.6,6,-32.6

Post-dive calculations and measurements:

FREEZE 1.29,1.071,-0.888,0,1,0 SC_FREEKB 3891712

FINISH 1.3,1.013107 _24V_AH 13.38,95.214

SM_CCo 9632,71.75,0.083,0,0,1281,350.04 _10V_AH 12.70,0.000

SM_GC 2.04,9.35,0.10,71.75,0.079,0.149,0.083,196,2463,1281,-9.01,-0.96,350.04,0,0,0,0,0,0,14.54,14.63,14.57 FG_AHR_24Vo 0.000

RAFOS_CLK -1 FG_AHR_10Vo 0.000

RAFOS 0,1416744061,12.033333,12.016945,69,56,54,52,52,51,209,153,171,134,106,185 MEM 143116

RAFOS_FIX 6704.776855,-5701.207031,231114,000024,3,72,2.22 DATA_FILE_SIZE 23396,704

IRIDIUM_FIX 6631.12,-5659.96,231114,081714 CAP_FILE_SIZE 115807,0

TT8_MAMPS 0.03745,0.03745 CFSIZE 1024409600,971358208

HUMID 41.57 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.61127 INTR 1,4357.32,0x23769e,2,5

TCM_TEMP 14.50 SOUNDSPEED 1473.0

XPDR_PINGS 1 CURRENT 0.384,328.13,1

ALTIM_TOP_PING 19.3,17.5 GPS 231114,140828,6704.110,-5652.173,105,0.7,105,-32.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 402 127.33 nil 0 0 0.00

Roll_motor 88 149 175.94 nil 0 0 0.00

VBD_pump_during_apogee 252 1458 4925.60 nil 0 0 0.00

VBD_pump_during_surface 71 83 80.05 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 9626 3 422.58

Iridium_during_xfer 273 144 528.32 nil 0 0 0.00

Transponder_ping 0 420 2.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 20 1.79

TT8 1603 24 502.86

LPSleep 6442 2 189.01

TT8_Active 482 23 146.72

TT8_Sampling 1389 42 753.15

TT8_CF8 247 56 176.22

TT8_Kalman 0 0 0.00

Analog_circuits 1344 15 256.21

GPS_charging 0 0 0.00

Compass 1059 5 67.29

RAFOS 2520 1 48.01

Transponder 2 30 1.00

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 -136.3 143 2446 1307 1232 0.0 0.0 0 82 0.00 0.00 -61.03 0.000 16386 0.000 0.000 140 2447 2828 2836 2820 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.92 -136.3 139 2447 2838 2821 4.0 -4.4 6 114 12.32 2.35 -9.32 0.000 19204 0.402 0.079 2791 1064 3266 3296 3237 0 0 0 0 0 0 14.19 14.52 14.78

343 -0.92 -136.3 2791 1065 3301 3236 51.8 -15.8 56 349 0.00 2.38 0.00 0.000 1030 0.000 0.059 2786 2452 3268 3301 3236 0 0 0 0 0 0 28.83 14.51 28.83

667 -0.92 -136.3 2786 2452 3301 3233 100.8 -15.2 70 669 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2452 3270 3308 3233 0 0 0 0 0 0 28.83 28.83 28.83

977 -0.92 -136.3 2786 2452 3301 3232 142.6 -12.5 83 983 0.00 2.38 0.00 0.000 516 0.000 0.060 2786 1065 3266 3301 3231 0 0 0 0 0 0 28.83 14.50 28.83

1030 -0.92 -136.3 2786 1064 3301 3231 149.3 -13.0 93 1036 0.00 2.38 0.00 0.000 1030 0.000 0.060 2786 2454 3266 3301 3231 0 0 0 0 0 0 28.83 14.57 28.83

1344 -0.92 -136.3 2786 2454 3301 3231 187.8 -11.4 110 1349 0.00 2.35 0.00 0.000 260 0.000 0.088 2785 3786 3266 3301 3231 0 0 0 0 0 0 28.83 14.50 28.83

1411 -0.92 -136.3 2786 3786 3301 3231 196.4 -13.0 123 1416 0.00 2.20 0.00 0.000 1030 0.000 0.048 2786 2444 3265 3300 3231 0 0 0 0 0 0 28.83 14.66 28.83

1730 -0.92 -136.3 2786 2442 3301 3231 235.1 -12.3 141 1735 0.00 2.35 0.00 0.000 516 0.000 0.060 2784 1061 3265 3300 3231 0 0 0 0 0 0 28.83 14.57 28.83

1797 -0.92 -136.3 2786 1060 3301 3231 243.5 -12.0 154 1803 0.00 2.38 0.00 0.000 1030 0.000 0.057 2786 2459 3265 3301 3230 0 0 0 0 0 0 28.83 14.58 28.83

2115 -0.92 -136.3 2786 2459 3301 3231 280.8 -11.7 172 2122 0.00 2.33 0.00 0.000 260 0.000 0.086 2786 3781 3266 3301 3231 0 0 0 0 0 0 28.83 14.51 28.83

2128 -0.92 -136.3 2786 3781 3301 3230 282.4 -11.5 174 2134 0.00 2.17 0.00 0.000 1030 0.000 0.047 2785 2443 3265 3301 3230 0 0 0 0 0 0 28.83 14.70 28.83

2441 -0.92 -136.3 2786 2443 3300 3231 317.4 -11.1 191 2447 0.00 2.33 0.00 0.000 516 0.000 0.058 2786 1062 3266 3301 3231 0 0 0 0 0 0 28.83 14.58 28.83

2459 -0.92 -136.3 2786 1062 3301 3231 319.5 -11.4 194 2465 0.00 2.35 0.00 0.000 1030 0.000 0.056 2785 2451 3265 3300 3231 0 0 0 0 0 0 28.83 14.58 28.83

2765 -0.92 -136.3 2786 2451 3301 3231 353.6 -11.2 210 2770 0.00 2.35 0.00 0.000 260 0.000 0.086 2785 3788 3264 3302 3227 0 0 0 0 0 0 28.83 14.50 28.83

2792 -0.92 -136.3 2786 3791 3301 3231 356.8 -12.2 215 2797 0.00 2.17 0.00 0.000 1030 0.000 0.047 2785 2448 3266 3302 3231 0 0 0 0 0 0 28.83 14.68 28.83

3111 -0.92 -136.3 2786 2448 3303 3231 391.8 -11.0 233 3116 0.00 2.38 0.00 0.000 260 0.000 0.084 2785 3787 3266 3302 3231 0 0 0 0 0 0 28.83 14.50 28.83

3123 -0.92 -136.3 2786 3787 3302 3231 393.2 -11.2 235 3128 0.00 2.17 0.00 0.000 1030 0.000 0.046 2786 2445 3266 3302 3231 0 0 0 0 0 0 28.83 14.69 28.83

3436 -0.92 -136.3 2786 2445 3304 3231 427.7 -11.4 252 3442 0.00 2.38 0.00 0.000 260 0.000 0.085 2786 3782 3267 3303 3231 0 0 0 0 0 0 28.83 14.49 28.83

3480 -0.92 -136.3 2785 3782 3302 3231 432.9 -11.8 260 3486 0.00 2.17 0.00 0.000 1030 0.000 0.047 2785 2443 3267 3303 3231 0 0 0 0 0 0 28.83 14.67 28.83

3804 -0.92 -136.3 2785 2443 3303 3231 468.8 -10.8 279 3809 0.00 2.38 0.00 0.000 260 0.000 0.084 2785 3782 3267 3304 3231 0 0 0 0 0 0 28.83 14.50 28.83

3831 -0.92 -136.3 2786 3778 3303 3231 471.9 -11.5 284 3837 0.00 2.17 0.00 0.000 1030 0.000 0.047 2785 2444 3267 3303 3231 0 0 0 0 0 0 28.83 14.68 28.83

4151 -0.92 -136.3 2786 2444 3302 3231 506.8 -10.9 302 4157 0.00 2.40 0.00 0.000 260 0.000 0.084 2785 3787 3268 3305 3232 0 0 0 0 0 0 28.83 14.50 28.83

4199 -0.92 -136.3 2785 3787 3304 3232 512.1 -10.4 311 4204 0.00 2.17 0.00 0.000 1030 0.000 0.047 2785 2449 3268 3305 3231 0 0 0 0 0 0 28.83 14.69 28.83

4355 end dive: NO_VERTICAL_VELOCITY

state 4355 begin apogee

4361 -0.18 0.0 2786 2450 3306 3231 512.5 0.0 321 4477 0.77 0.00 107.85 1.458 10246 0.134 0.000 3035 2449 2705 2774 2637 0 0 0 0 0 0 14.46 28.83 13.59

4478 end apogee: CONTROL_FINISHED_OK

state 4478 begin climb

4481 0.92 136.3 3035 2449 2773 2637 512.4 0.0 327 4597 1.08 0.00 108.72 1.419 10502 0.150 0.000 3371 2449 2149 2221 2078 0 0 0 0 0 0 14.21 28.83 13.38

4897 0.92 136.3 3372 2449 2211 2077 475.3 10.1 351 4902 0.00 2.47 0.00 0.000 516 0.000 0.061 3382 998 2145 2213 2077 0 0 0 0 0 0 28.83 14.40 28.83

4960 0.92 136.3 3382 998 2213 2077 468.9 9.7 363 4966 0.00 2.35 0.00 0.000 1030 0.000 0.053 3382 2381 2144 2212 2077 0 0 0 0 0 0 28.83 14.47 28.83

5284 0.92 136.3 3382 2381 2212 2077 435.8 10.3 382 5285 0.00 0.00 0.00 0.000 6 0.000 0.000 3382 2381 2144 2212 2077 0 0 0 0 0 0 28.83 28.83 28.83

5586 0.92 136.3 3382 2381 2212 2077 404.5 11.0 397 5592 0.00 2.35 0.00 0.000 516 0.000 0.061 3392 997 2144 2212 2077 0 0 0 0 0 0 28.83 14.58 28.83

5630 0.92 136.3 3392 997 2211 2077 399.4 11.2 405 5636 0.00 2.33 0.00 0.000 1030 0.000 0.052 3392 2385 2144 2212 2077 0 0 0 0 0 0 28.83 14.61 28.83

5953 0.92 136.3 3392 2385 2212 2077 364.1 10.6 424 5954 0.00 0.00 0.00 0.000 6 0.000 0.000 3392 2385 2144 2211 2077 0 0 0 0 0 0 28.83 28.83 28.83

6255 0.92 136.3 3391 2385 2211 2077 332.5 10.6 439 6256 0.00 0.00 0.00 0.000 6 0.000 0.000 3392 2386 2144 2212 2077 0 0 0 0 0 0 28.83 28.83 28.83

6555 0.92 136.3 3392 2385 2211 2077 300.7 10.4 454 6561 0.00 2.35 0.00 0.000 516 0.000 0.060 3402 997 2143 2210 2077 0 0 0 0 0 0 28.83 14.60 28.83

6623 0.92 136.3 3402 997 2212 2077 293.2 10.7 467 6628 0.00 2.30 0.00 0.000 1030 0.000 0.052 3402 2376 2143 2210 2077 0 0 0 0 0 0 28.83 14.63 28.83

6941 0.92 136.3 3403 2376 2212 2077 258.2 10.8 485 6947 0.00 2.35 0.00 0.000 516 0.000 0.060 3412 990 2144 2211 2077 0 0 0 0 0 0 28.83 14.60 28.83

7014 0.92 136.3 3412 990 2211 2077 250.0 11.4 499 7019 0.00 2.33 0.00 0.000 1030 0.000 0.051 3412 2382 2144 2211 2077 0 0 0 0 0 0 28.83 14.64 28.83

7327 0.92 136.3 3412 2382 2211 2077 215.8 11.0 516 7333 0.00 2.35 0.00 0.000 516 0.000 0.060 3421 994 2144 2211 2077 0 0 0 0 0 0 28.83 14.60 28.83

7405 0.92 136.3 3422 994 2212 2077 207.4 10.2 531 7412 0.00 2.33 0.00 0.000 1030 0.000 0.052 3422 2385 2144 2212 2077 0 0 0 0 0 0 28.83 14.63 28.83

7711 0.92 136.3 3422 2386 2212 2077 174.0 10.8 547 7713 0.00 0.00 0.00 0.000 6 0.000 0.000 3422 2385 2144 2212 2077 0 0 0 0 0 0 28.83 28.83 28.83

8013 0.92 136.3 3422 2386 2212 2077 141.7 10.5 562 8019 0.12 2.35 0.00 0.000 4612 0.250 0.057 3397 997 2143 2211 2076 0 0 0 0 0 0 14.41 14.60 28.83

8133 0.92 136.3 3397 997 2212 2078 130.4 9.3 585 8139 0.00 2.30 0.00 0.000 1030 0.000 0.052 3397 2376 2144 2212 2077 0 0 0 0 0 0 28.83 14.57 28.83

8440 0.92 136.3 3397 2376 2213 2077 101.8 9.2 598 8442 0.00 0.00 0.00 0.000 6 0.000 0.000 3397 2376 2144 2212 2077 0 0 0 0 0 0 28.83 28.83 28.83

8739 0.92 136.4 3397 2377 2211 2077 75.2 9.2 608 8745 0.00 2.35 0.00 0.000 516 0.000 0.060 3407 995 2144 2211 2077 0 0 0 0 0 0 28.83 14.60 28.83

8788 0.98 161.0 3408 995 2212 2077 71.0 8.1 617 8813 0.00 2.30 18.42 0.889 9222 0.000 0.052 3408 2375 2050 2117 1983 0 0 0 0 0 0 28.83 14.64 14.16

9136 0.98 161.0 3407 2375 2114 1983 38.3 9.3 636 9142 0.00 2.28 0.00 0.000 516 0.000 0.060 3415 1000 2048 2114 1983 0 0 0 0 0 0 28.83 14.55 28.83

9327 1.05 195.2 3417 1000 2114 1983 23.8 7.6 673 9354 0.00 2.30 17.48 0.153 9222 0.000 0.052 3417 2379 1917 1986 1848 0 0 0 0 0 0 28.83 14.60 14.43

9590 end climb: SURFACE_DEPTH_REACHED

state 9590 begin surface coast

9612 end surface coast: CONTROL_FINISHED_OK

state 9612 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	401	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	61	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	27	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	231114,111605,6703.486,-5651.222,12,1.0,12,-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	2.09	MHEAD_RNG_PITCHd_Wd	175.0,2386,-17.5,-9.167,-20.44,2275
_SM_ANGLEo	-69.0	D_GRID	515
GPS2	231114,112329,6703.430,-5651.115,5,1.6,6,-32.6

FREEZE	1.29,1.071,-0.888,0,1,0	SC_FREEKB	3891712
FINISH	1.3,1.013107	_24V_AH	13.38,95.214
SM_CCo	9632,71.75,0.083,0,0,1281,350.04	_10V_AH	12.70,0.000
SM_GC	2.04,9.35,0.10,71.75,0.079,0.149,0.083,196,2463,1281,-9.01,-0.96,350.04,0,0,0,0,0,0,14.54,14.63,14.57	FG_AHR_24Vo	0.000
RAFOS_CLK	-1	FG_AHR_10Vo	0.000
RAFOS	0,1416744061,12.033333,12.016945,69,56,54,52,52,51,209,153,171,134,106,185	MEM	143116
RAFOS_FIX	6704.776855,-5701.207031,231114,000024,3,72,2.22	DATA_FILE_SIZE	23396,704
IRIDIUM_FIX	6631.12,-5659.96,231114,081714	CAP_FILE_SIZE	115807,0
TT8_MAMPS	0.03745,0.03745	CFSIZE	1024409600,971358208
HUMID	41.57	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.61127	INTR	1,4357.32,0x23769e,2,5
TCM_TEMP	14.50	SOUNDSPEED	1473.0
XPDR_PINGS	1	CURRENT	0.384,328.13,1
ALTIM_TOP_PING	19.3,17.5	GPS	231114,140828,6704.110,-5652.173,105,0.7,105,-32.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	402	127.33	nil	0	0	0.00
Roll_motor	88	149	175.94	nil	0	0	0.00
VBD_pump_during_apogee	252	1458	4925.60	nil	0	0	0.00
VBD_pump_during_surface	71	83	80.05	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	9626	3	422.58
Iridium_during_xfer	273	144	528.32	nil	0	0	0.00
Transponder_ping	0	420	2.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	20	1.79
TT8	1603	24	502.86
LPSleep	6442	2	189.01
TT8_Active	482	23	146.72
TT8_Sampling	1389	42	753.15
TT8_CF8	247	56	176.22
TT8_Kalman	0	0	0.00
Analog_circuits	1344	15	256.21
GPS_charging	0	0	0.00
Compass	1059	5	67.29
RAFOS	2520	1	48.01
Transponder	2	30	1.00

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	143	2446	1307	1232	0.0	0.0	0	82	0.00	0.00	-61.03	0.000	16386	0.000	0.000	140	2447	2828	2836	2820	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.92	-136.3	139	2447	2838	2821	4.0	-4.4	6	114	12.32	2.35	-9.32	0.000	19204	0.402	0.079	2791	1064	3266	3296	3237	0	0	0	0	0	0	14.19	14.52	14.78
343	-0.92	-136.3	2791	1065	3301	3236	51.8	-15.8	56	349	0.00	2.38	0.00	0.000	1030	0.000	0.059	2786	2452	3268	3301	3236	0	0	0	0	0	0	28.83	14.51	28.83
667	-0.92	-136.3	2786	2452	3301	3233	100.8	-15.2	70	669	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2452	3270	3308	3233	0	0	0	0	0	0	28.83	28.83	28.83
977	-0.92	-136.3	2786	2452	3301	3232	142.6	-12.5	83	983	0.00	2.38	0.00	0.000	516	0.000	0.060	2786	1065	3266	3301	3231	0	0	0	0	0	0	28.83	14.50	28.83
1030	-0.92	-136.3	2786	1064	3301	3231	149.3	-13.0	93	1036	0.00	2.38	0.00	0.000	1030	0.000	0.060	2786	2454	3266	3301	3231	0	0	0	0	0	0	28.83	14.57	28.83
1344	-0.92	-136.3	2786	2454	3301	3231	187.8	-11.4	110	1349	0.00	2.35	0.00	0.000	260	0.000	0.088	2785	3786	3266	3301	3231	0	0	0	0	0	0	28.83	14.50	28.83
1411	-0.92	-136.3	2786	3786	3301	3231	196.4	-13.0	123	1416	0.00	2.20	0.00	0.000	1030	0.000	0.048	2786	2444	3265	3300	3231	0	0	0	0	0	0	28.83	14.66	28.83
1730	-0.92	-136.3	2786	2442	3301	3231	235.1	-12.3	141	1735	0.00	2.35	0.00	0.000	516	0.000	0.060	2784	1061	3265	3300	3231	0	0	0	0	0	0	28.83	14.57	28.83
1797	-0.92	-136.3	2786	1060	3301	3231	243.5	-12.0	154	1803	0.00	2.38	0.00	0.000	1030	0.000	0.057	2786	2459	3265	3301	3230	0	0	0	0	0	0	28.83	14.58	28.83
2115	-0.92	-136.3	2786	2459	3301	3231	280.8	-11.7	172	2122	0.00	2.33	0.00	0.000	260	0.000	0.086	2786	3781	3266	3301	3231	0	0	0	0	0	0	28.83	14.51	28.83
2128	-0.92	-136.3	2786	3781	3301	3230	282.4	-11.5	174	2134	0.00	2.17	0.00	0.000	1030	0.000	0.047	2785	2443	3265	3301	3230	0	0	0	0	0	0	28.83	14.70	28.83
2441	-0.92	-136.3	2786	2443	3300	3231	317.4	-11.1	191	2447	0.00	2.33	0.00	0.000	516	0.000	0.058	2786	1062	3266	3301	3231	0	0	0	0	0	0	28.83	14.58	28.83
2459	-0.92	-136.3	2786	1062	3301	3231	319.5	-11.4	194	2465	0.00	2.35	0.00	0.000	1030	0.000	0.056	2785	2451	3265	3300	3231	0	0	0	0	0	0	28.83	14.58	28.83
2765	-0.92	-136.3	2786	2451	3301	3231	353.6	-11.2	210	2770	0.00	2.35	0.00	0.000	260	0.000	0.086	2785	3788	3264	3302	3227	0	0	0	0	0	0	28.83	14.50	28.83
2792	-0.92	-136.3	2786	3791	3301	3231	356.8	-12.2	215	2797	0.00	2.17	0.00	0.000	1030	0.000	0.047	2785	2448	3266	3302	3231	0	0	0	0	0	0	28.83	14.68	28.83
3111	-0.92	-136.3	2786	2448	3303	3231	391.8	-11.0	233	3116	0.00	2.38	0.00	0.000	260	0.000	0.084	2785	3787	3266	3302	3231	0	0	0	0	0	0	28.83	14.50	28.83
3123	-0.92	-136.3	2786	3787	3302	3231	393.2	-11.2	235	3128	0.00	2.17	0.00	0.000	1030	0.000	0.046	2786	2445	3266	3302	3231	0	0	0	0	0	0	28.83	14.69	28.83
3436	-0.92	-136.3	2786	2445	3304	3231	427.7	-11.4	252	3442	0.00	2.38	0.00	0.000	260	0.000	0.085	2786	3782	3267	3303	3231	0	0	0	0	0	0	28.83	14.49	28.83
3480	-0.92	-136.3	2785	3782	3302	3231	432.9	-11.8	260	3486	0.00	2.17	0.00	0.000	1030	0.000	0.047	2785	2443	3267	3303	3231	0	0	0	0	0	0	28.83	14.67	28.83
3804	-0.92	-136.3	2785	2443	3303	3231	468.8	-10.8	279	3809	0.00	2.38	0.00	0.000	260	0.000	0.084	2785	3782	3267	3304	3231	0	0	0	0	0	0	28.83	14.50	28.83
3831	-0.92	-136.3	2786	3778	3303	3231	471.9	-11.5	284	3837	0.00	2.17	0.00	0.000	1030	0.000	0.047	2785	2444	3267	3303	3231	0	0	0	0	0	0	28.83	14.68	28.83
4151	-0.92	-136.3	2786	2444	3302	3231	506.8	-10.9	302	4157	0.00	2.40	0.00	0.000	260	0.000	0.084	2785	3787	3268	3305	3232	0	0	0	0	0	0	28.83	14.50	28.83
4199	-0.92	-136.3	2785	3787	3304	3232	512.1	-10.4	311	4204	0.00	2.17	0.00	0.000	1030	0.000	0.047	2785	2449	3268	3305	3231	0	0	0	0	0	0	28.83	14.69	28.83
4355	end dive: NO_VERTICAL_VELOCITY
state	4355	begin apogee
4361	-0.18	0.0	2786	2450	3306	3231	512.5	0.0	321	4477	0.77	0.00	107.85	1.458	10246	0.134	0.000	3035	2449	2705	2774	2637	0	0	0	0	0	0	14.46	28.83	13.59
4478	end apogee: CONTROL_FINISHED_OK
state	4478	begin climb
4481	0.92	136.3	3035	2449	2773	2637	512.4	0.0	327	4597	1.08	0.00	108.72	1.419	10502	0.150	0.000	3371	2449	2149	2221	2078	0	0	0	0	0	0	14.21	28.83	13.38
4897	0.92	136.3	3372	2449	2211	2077	475.3	10.1	351	4902	0.00	2.47	0.00	0.000	516	0.000	0.061	3382	998	2145	2213	2077	0	0	0	0	0	0	28.83	14.40	28.83
4960	0.92	136.3	3382	998	2213	2077	468.9	9.7	363	4966	0.00	2.35	0.00	0.000	1030	0.000	0.053	3382	2381	2144	2212	2077	0	0	0	0	0	0	28.83	14.47	28.83
5284	0.92	136.3	3382	2381	2212	2077	435.8	10.3	382	5285	0.00	0.00	0.00	0.000	6	0.000	0.000	3382	2381	2144	2212	2077	0	0	0	0	0	0	28.83	28.83	28.83
5586	0.92	136.3	3382	2381	2212	2077	404.5	11.0	397	5592	0.00	2.35	0.00	0.000	516	0.000	0.061	3392	997	2144	2212	2077	0	0	0	0	0	0	28.83	14.58	28.83
5630	0.92	136.3	3392	997	2211	2077	399.4	11.2	405	5636	0.00	2.33	0.00	0.000	1030	0.000	0.052	3392	2385	2144	2212	2077	0	0	0	0	0	0	28.83	14.61	28.83
5953	0.92	136.3	3392	2385	2212	2077	364.1	10.6	424	5954	0.00	0.00	0.00	0.000	6	0.000	0.000	3392	2385	2144	2211	2077	0	0	0	0	0	0	28.83	28.83	28.83
6255	0.92	136.3	3391	2385	2211	2077	332.5	10.6	439	6256	0.00	0.00	0.00	0.000	6	0.000	0.000	3392	2386	2144	2212	2077	0	0	0	0	0	0	28.83	28.83	28.83
6555	0.92	136.3	3392	2385	2211	2077	300.7	10.4	454	6561	0.00	2.35	0.00	0.000	516	0.000	0.060	3402	997	2143	2210	2077	0	0	0	0	0	0	28.83	14.60	28.83
6623	0.92	136.3	3402	997	2212	2077	293.2	10.7	467	6628	0.00	2.30	0.00	0.000	1030	0.000	0.052	3402	2376	2143	2210	2077	0	0	0	0	0	0	28.83	14.63	28.83
6941	0.92	136.3	3403	2376	2212	2077	258.2	10.8	485	6947	0.00	2.35	0.00	0.000	516	0.000	0.060	3412	990	2144	2211	2077	0	0	0	0	0	0	28.83	14.60	28.83
7014	0.92	136.3	3412	990	2211	2077	250.0	11.4	499	7019	0.00	2.33	0.00	0.000	1030	0.000	0.051	3412	2382	2144	2211	2077	0	0	0	0	0	0	28.83	14.64	28.83
7327	0.92	136.3	3412	2382	2211	2077	215.8	11.0	516	7333	0.00	2.35	0.00	0.000	516	0.000	0.060	3421	994	2144	2211	2077	0	0	0	0	0	0	28.83	14.60	28.83
7405	0.92	136.3	3422	994	2212	2077	207.4	10.2	531	7412	0.00	2.33	0.00	0.000	1030	0.000	0.052	3422	2385	2144	2212	2077	0	0	0	0	0	0	28.83	14.63	28.83
7711	0.92	136.3	3422	2386	2212	2077	174.0	10.8	547	7713	0.00	0.00	0.00	0.000	6	0.000	0.000	3422	2385	2144	2212	2077	0	0	0	0	0	0	28.83	28.83	28.83
8013	0.92	136.3	3422	2386	2212	2077	141.7	10.5	562	8019	0.12	2.35	0.00	0.000	4612	0.250	0.057	3397	997	2143	2211	2076	0	0	0	0	0	0	14.41	14.60	28.83
8133	0.92	136.3	3397	997	2212	2078	130.4	9.3	585	8139	0.00	2.30	0.00	0.000	1030	0.000	0.052	3397	2376	2144	2212	2077	0	0	0	0	0	0	28.83	14.57	28.83
8440	0.92	136.3	3397	2376	2213	2077	101.8	9.2	598	8442	0.00	0.00	0.00	0.000	6	0.000	0.000	3397	2376	2144	2212	2077	0	0	0	0	0	0	28.83	28.83	28.83
8739	0.92	136.4	3397	2377	2211	2077	75.2	9.2	608	8745	0.00	2.35	0.00	0.000	516	0.000	0.060	3407	995	2144	2211	2077	0	0	0	0	0	0	28.83	14.60	28.83
8788	0.98	161.0	3408	995	2212	2077	71.0	8.1	617	8813	0.00	2.30	18.42	0.889	9222	0.000	0.052	3408	2375	2050	2117	1983	0	0	0	0	0	0	28.83	14.64	14.16
9136	0.98	161.0	3407	2375	2114	1983	38.3	9.3	636	9142	0.00	2.28	0.00	0.000	516	0.000	0.060	3415	1000	2048	2114	1983	0	0	0	0	0	0	28.83	14.55	28.83
9327	1.05	195.2	3417	1000	2114	1983	23.8	7.6	673	9354	0.00	2.30	17.48	0.153	9222	0.000	0.052	3417	2379	1917	1986	1848	0	0	0	0	0	0	28.83	14.60	14.43
9590	end climb: SURFACE_DEPTH_REACHED
state	9590	begin surface coast
9612	end surface coast: CONTROL_FINISHED_OK
state	9612	begin surface