Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 402 * 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 402 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 67 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 43 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 67 VBD_DBAND 2

DEVICE4 -1 MISSION 3 R_STBD_OVSHOOT 43 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 402 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 231114,140828,6704.110,-5652.173,105,0.7,105,-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 2.03 MHEAD_RNG_PITCHd_Wd 197.6,3851,-17.5,-9.167,-20.44,2275

_SM_ANGLEo -65.1 D_GRID 512

GPS2 231114,141523,6704.115,-5652.500,6,0.7,6,-32.6

Post-dive calculations and measurements:

FREEZE 1.32,1.043,-0.955,0,1,0 SC_FREEKB 3891392

FINISH 1.3,1.014099 _24V_AH 13.39,95.386

SM_CCo 9320,63.45,0.083,0,0,1282,350.04 _10V_AH 12.94,0.000

SM_GC 2.05,9.50,0.10,63.45,0.084,0.156,0.083,212,2462,1282,-8.96,-0.90,350.04,0,0,0,0,0,0,14.52,14.58,14.54 FG_AHR_24Vo 0.000

RAFOS_CLK -2 FG_AHR_10Vo 0.000

RAFOS 0,1416758477,16.033333,16.021389,58,54,52,52,51,50,196,154,130,208,178,230 MEM 143100

RAFOS_FIX 6704.776855,-5701.207031,231114,000024,3,72,2.22 DATA_FILE_SIZE 26715,731

IRIDIUM_FIX 6631.12,-5650.71,231114,111858 CAP_FILE_SIZE 115986,0

TT8_MAMPS 0.039697,0.039697 CFSIZE 1024409600,971259904

HUMID 41.77 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.60151 INTR 1,4192.53,0x23769e,2,5

TCM_TEMP 14.30 SOUNDSPEED 1472.8

XPDR_PINGS 0 CURRENT 0.335,323.84,1

ALTIM_TOP_PING 19.1,999.0 GPS 231114,165335,6704.326,-5654.592,21,0.9,21,-32.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 398 128.88 nil 0 0 0.00

Roll_motor 93 156 195.49 nil 0 0 0.00

VBD_pump_during_apogee 271 1458 5295.35 nil 0 0 0.00

VBD_pump_during_surface 63 82 70.19 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 9314 3 409.31

Iridium_during_xfer 248 143 477.83 nil 0 0 0.00

Transponder_ping 0 420 1.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 20 1.84

TT8 1602 24 512.06

LPSleep 6098 2 182.28

TT8_Active 468 23 145.06

TT8_Sampling 1403 42 775.00

TT8_CF8 245 56 178.04

TT8_Kalman 0 0 0.00

Analog_circuits 1339 15 259.90

GPS_charging 0 0 0.00

Compass 1094 5 70.84

RAFOS 2520 1 48.91

Transponder 4 30 1.59

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 -136.3 138 2467 1303 1230 0.0 0.0 0 84 0.00 0.00 -61.83 0.000 16386 0.000 0.000 128 2468 2853 2858 2849 0 0 0 0 0 0 28.83 28.83 28.83

87 -0.92 -136.3 128 2468 2859 2849 3.8 -3.7 6 115 12.30 2.40 -8.38 0.000 19204 0.399 0.080 2789 1069 3262 3294 3231 0 0 0 0 0 0 14.16 14.53 14.81

343 -0.92 -136.3 2791 1069 3299 3230 49.4 -16.1 56 349 0.00 2.35 0.00 0.000 1030 0.000 0.060 2785 2437 3264 3298 3230 0 0 0 0 0 0 28.83 14.50 28.83

667 -0.92 -136.3 2786 2437 3298 3228 98.8 -14.6 70 673 0.00 2.35 0.00 0.000 516 0.000 0.059 2786 1066 3263 3298 3228 0 0 0 0 0 0 28.83 14.54 28.83

741 -0.92 -136.3 2786 1066 3299 3227 109.5 -13.6 84 747 0.00 2.38 0.00 0.000 1030 0.000 0.060 2786 2455 3263 3299 3227 0 0 0 0 0 0 28.83 14.54 28.83

1065 -0.92 -136.3 2786 2455 3298 3226 153.2 -13.4 102 1070 0.00 2.38 0.00 0.000 516 0.000 0.058 2786 1068 3262 3298 3226 0 0 0 0 0 0 28.83 14.55 28.83

1171 -0.92 -136.3 2787 1068 3299 3227 167.5 -13.3 122 1176 0.00 2.35 0.00 0.000 1030 0.000 0.058 2786 2451 3262 3299 3226 0 0 0 0 0 0 28.83 14.57 28.83

1494 -0.92 -136.3 2786 2451 3299 3226 209.0 -11.8 141 1500 0.00 2.35 0.00 0.000 260 0.000 0.087 2786 3782 3262 3299 3226 0 0 0 0 0 0 28.83 14.48 28.83

1558 -0.92 -136.3 2786 3782 3298 3226 216.9 -12.4 153 1564 0.00 2.17 0.00 0.000 1030 0.000 0.048 2791 2450 3262 3299 3226 0 0 0 0 0 0 28.83 14.66 28.83

1882 -0.92 -136.3 2786 2449 3298 3226 255.7 -12.1 172 1887 0.00 2.38 0.00 0.000 260 0.000 0.086 2785 3782 3262 3298 3226 0 0 0 0 0 0 28.83 14.42 28.83

1905 -0.92 -136.3 2786 3782 3299 3226 258.6 -11.9 176 1911 0.00 2.17 0.00 0.000 1030 0.000 0.048 2786 2449 3262 3298 3226 0 0 0 0 0 0 28.83 14.67 28.83

2229 -0.92 -136.3 2786 2449 3298 3226 297.2 -11.9 195 2234 0.00 2.38 0.00 0.000 260 0.000 0.086 2786 3783 3262 3298 3226 0 0 0 0 0 0 28.83 14.49 28.83

2267 -0.92 -136.3 2786 3783 3298 3226 301.7 -12.6 202 2273 0.00 2.17 0.00 0.000 1030 0.000 0.048 2786 2445 3262 3299 3226 0 0 0 0 0 0 28.83 14.69 28.83

2572 -0.92 -136.3 2786 2445 3299 3227 337.2 -11.5 218 2578 0.00 2.33 0.00 0.000 516 0.000 0.058 2786 1065 3262 3299 3226 0 0 0 0 0 0 28.83 14.52 28.83

2610 -0.92 -136.3 2787 1064 3300 3226 341.7 -11.7 225 2617 0.00 2.35 0.00 0.000 1030 0.000 0.057 2786 2452 3263 3300 3226 0 0 0 0 0 0 28.83 14.58 28.83

2916 -0.92 -136.3 2785 2453 3300 3226 375.6 -10.8 241 2922 0.00 2.33 0.00 0.000 260 0.000 0.085 2786 3780 3263 3300 3226 0 0 0 0 0 0 28.83 14.51 28.83

2928 -0.92 -136.3 2787 3780 3301 3226 377.1 -10.8 243 2934 0.00 2.17 0.00 0.000 1030 0.000 0.046 2786 2438 3263 3300 3226 0 0 0 0 0 0 28.83 14.70 28.83

3242 -0.92 -136.3 2786 2439 3301 3226 410.8 -10.6 260 3247 0.00 2.38 0.00 0.000 260 0.000 0.086 2785 3780 3263 3301 3226 0 0 0 0 0 0 28.83 14.51 28.83

3319 -0.92 -136.3 2786 3780 3301 3226 419.9 -12.2 275 3326 0.00 2.17 0.00 0.000 1030 0.000 0.047 2786 2443 3264 3301 3227 0 0 0 0 0 0 28.83 14.68 28.83

3625 -0.92 -136.3 2781 2443 3302 3226 452.4 -10.6 291 3627 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2442 3264 3302 3227 0 0 0 0 0 0 28.83 28.83 28.83

3929 -0.92 -136.3 2786 2442 3302 3226 484.5 -10.6 306 3934 0.00 2.38 0.00 0.000 260 0.000 0.085 2786 3780 3264 3302 3227 0 0 0 0 0 0 28.83 14.50 28.83

4026 -0.92 -136.3 2786 3780 3302 3227 496.1 -11.0 325 4034 0.00 2.17 0.00 0.000 1030 0.000 0.047 2786 2443 3264 3302 3227 0 0 0 0 0 0 28.83 14.68 28.83

4190 end dive: TARGET_DEPTH_EXCEEDED

state 4190 begin apogee

4196 -0.18 0.0 2786 2448 3303 3226 512.9 -10.1 334 4312 0.90 0.00 106.95 1.458 10246 0.233 0.000 3033 2443 2705 2774 2637 0 0 0 0 0 0 14.24 28.83 13.60

4313 end apogee: CONTROL_FINISHED_OK

state 4313 begin climb

4316 0.92 136.3 3032 2442 2772 2637 514.8 0.0 340 4436 1.10 2.50 107.40 1.424 10500 0.153 0.081 3375 3779 2150 2221 2079 0 0 0 0 0 0 14.21 14.01 13.39

4479 0.92 136.3 3375 3778 2217 2079 500.5 12.5 372 4485 0.00 2.38 0.00 0.000 1030 0.000 0.046 3385 2388 2148 2217 2079 0 0 0 0 0 0 28.83 14.18 28.83

4803 0.92 136.3 3385 2385 2214 2079 465.2 10.9 391 4804 0.00 0.00 0.00 0.000 6 0.000 0.000 3386 2385 2146 2214 2079 0 0 0 0 0 0 28.83 28.83 28.83

5105 0.92 136.3 3386 2385 2214 2079 432.4 10.5 406 5111 0.00 2.38 0.00 0.000 516 0.000 0.062 3395 988 2146 2214 2079 0 0 0 0 0 0 28.83 14.54 28.83

5178 0.92 136.3 3396 988 2214 2079 424.0 10.9 420 5183 0.00 2.35 0.00 0.000 1030 0.000 0.052 3395 2389 2146 2214 2079 0 0 0 0 0 0 28.83 14.59 28.83

5491 0.92 136.3 3396 2388 2213 2079 389.8 10.6 437 5492 0.00 0.00 0.00 0.000 6 0.000 0.000 3396 2389 2146 2214 2079 0 0 0 0 0 0 28.83 28.83 28.83

5793 0.92 136.3 3396 2389 2214 2079 357.0 11.1 452 5798 0.00 2.40 0.00 0.000 516 0.000 0.060 3406 982 2146 2214 2079 0 0 0 0 0 0 28.83 14.62 28.83

5846 0.92 136.3 3406 982 2213 2079 350.8 11.3 462 5851 0.00 2.35 0.00 0.000 1030 0.000 0.052 3406 2378 2146 2213 2079 0 0 0 0 0 0 28.83 14.63 28.83

6159 0.92 136.3 3407 2378 2214 2079 316.2 10.8 479 6165 0.00 2.38 0.00 0.000 516 0.000 0.060 3417 987 2146 2213 2080 0 0 0 0 0 0 28.83 14.59 28.83

6227 0.92 136.3 3417 987 2214 2079 308.4 11.0 492 6232 0.00 2.33 0.00 0.000 1030 0.000 0.050 3418 2381 2146 2214 2078 0 0 0 0 0 0 28.83 14.64 28.83

6545 0.92 136.3 3416 2381 2213 2079 271.1 11.6 510 6551 0.00 2.40 0.00 0.000 516 0.000 0.060 3427 979 2146 2213 2079 0 0 0 0 0 0 28.83 14.61 28.83

6578 0.92 136.3 3428 979 2213 2079 266.9 12.3 516 6584 0.12 2.35 0.00 0.000 5126 0.243 0.052 3397 2384 2146 2213 2079 0 0 0 0 0 0 14.39 14.62 28.83

6892 0.92 136.3 3397 2384 2212 2079 232.6 10.7 533 6893 0.00 0.00 0.00 0.000 6 0.000 0.000 3397 2384 2146 2213 2079 0 0 0 0 0 0 28.83 28.83 28.83

7194 0.92 136.3 3397 2383 2213 2078 200.3 10.3 548 7199 0.00 2.33 0.00 0.000 516 0.000 0.060 3408 981 2146 2213 2079 0 0 0 0 0 0 28.83 14.57 28.83

7253 0.92 136.3 3408 981 2214 2079 194.3 9.9 559 7259 0.00 2.33 0.00 0.000 1030 0.000 0.051 3408 2376 2146 2213 2079 0 0 0 0 0 0 28.83 14.62 28.83

7557 0.92 136.3 3408 2377 2213 2079 163.1 10.6 575 7563 0.00 2.38 0.00 0.000 516 0.000 0.060 3418 982 2146 2213 2079 0 0 0 0 0 0 28.83 14.52 28.83

7600 0.92 136.3 3419 982 2213 2079 158.4 11.0 583 7605 0.00 2.33 0.00 0.000 1030 0.000 0.051 3419 2376 2146 2214 2079 0 0 0 0 0 0 28.83 14.62 28.83

7923 0.92 136.3 3419 2377 2213 2079 123.6 10.8 602 7929 0.00 2.35 0.00 0.000 516 0.000 0.059 3427 985 2145 2212 2079 0 0 0 0 0 0 28.83 14.58 28.83

8007 0.92 136.3 3427 987 2214 2079 114.5 11.2 618 8013 0.12 2.33 0.00 0.000 5126 0.237 0.050 3396 2379 2146 2214 2079 0 0 0 0 0 0 14.38 14.62 28.83

8321 0.92 136.3 3397 2379 2214 2079 83.3 10.0 630 8322 0.00 0.00 0.00 0.000 6 0.000 0.000 3397 2379 2146 2214 2078 0 0 0 0 0 0 28.83 28.83 28.83

8621 1.08 207.8 3393 2379 2213 2079 60.9 5.9 640 8682 0.10 2.45 53.60 0.887 10756 0.166 0.061 3460 977 1858 1925 1791 0 0 0 0 0 0 14.70 14.62 14.09

8898 1.09 212.9 3459 977 1919 1788 39.6 8.9 694 8908 0.00 2.35 3.28 0.584 9222 0.000 0.052 3458 2374 1843 1912 1775 0 0 0 0 0 0 28.83 14.50 13.97

9211 1.09 212.9 3458 2373 1912 1775 9.7 10.9 720 9216 0.00 2.38 0.00 0.000 516 0.000 0.060 3466 987 1843 1912 1775 0 0 0 0 0 0 28.83 14.54 28.83

9235 1.09 212.9 3466 987 1914 1775 7.1 11.0 724 9241 0.00 2.35 0.00 0.000 1030 0.000 0.053 3467 2382 1843 1912 1775 0 0 0 0 0 0 28.83 14.57 28.83

9287 end climb: SURFACE_DEPTH_REACHED

state 9287 begin surface coast

9298 end surface coast: CONTROL_FINISHED_OK

state 9300 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	402	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	67	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	43	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	231114,140828,6704.110,-5652.173,105,0.7,105,-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	2.03	MHEAD_RNG_PITCHd_Wd	197.6,3851,-17.5,-9.167,-20.44,2275
_SM_ANGLEo	-65.1	D_GRID	512
GPS2	231114,141523,6704.115,-5652.500,6,0.7,6,-32.6

FREEZE	1.32,1.043,-0.955,0,1,0	SC_FREEKB	3891392
FINISH	1.3,1.014099	_24V_AH	13.39,95.386
SM_CCo	9320,63.45,0.083,0,0,1282,350.04	_10V_AH	12.94,0.000
SM_GC	2.05,9.50,0.10,63.45,0.084,0.156,0.083,212,2462,1282,-8.96,-0.90,350.04,0,0,0,0,0,0,14.52,14.58,14.54	FG_AHR_24Vo	0.000
RAFOS_CLK	-2	FG_AHR_10Vo	0.000
RAFOS	0,1416758477,16.033333,16.021389,58,54,52,52,51,50,196,154,130,208,178,230	MEM	143100
RAFOS_FIX	6704.776855,-5701.207031,231114,000024,3,72,2.22	DATA_FILE_SIZE	26715,731
IRIDIUM_FIX	6631.12,-5650.71,231114,111858	CAP_FILE_SIZE	115986,0
TT8_MAMPS	0.039697,0.039697	CFSIZE	1024409600,971259904
HUMID	41.77	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.60151	INTR	1,4192.53,0x23769e,2,5
TCM_TEMP	14.30	SOUNDSPEED	1472.8
XPDR_PINGS	0	CURRENT	0.335,323.84,1
ALTIM_TOP_PING	19.1,999.0	GPS	231114,165335,6704.326,-5654.592,21,0.9,21,-32.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	398	128.88	nil	0	0	0.00
Roll_motor	93	156	195.49	nil	0	0	0.00
VBD_pump_during_apogee	271	1458	5295.35	nil	0	0	0.00
VBD_pump_during_surface	63	82	70.19	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	9314	3	409.31
Iridium_during_xfer	248	143	477.83	nil	0	0	0.00
Transponder_ping	0	420	1.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	20	1.84
TT8	1602	24	512.06
LPSleep	6098	2	182.28
TT8_Active	468	23	145.06
TT8_Sampling	1403	42	775.00
TT8_CF8	245	56	178.04
TT8_Kalman	0	0	0.00
Analog_circuits	1339	15	259.90
GPS_charging	0	0	0.00
Compass	1094	5	70.84
RAFOS	2520	1	48.91
Transponder	4	30	1.59

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	138	2467	1303	1230	0.0	0.0	0	84	0.00	0.00	-61.83	0.000	16386	0.000	0.000	128	2468	2853	2858	2849	0	0	0	0	0	0	28.83	28.83	28.83
87	-0.92	-136.3	128	2468	2859	2849	3.8	-3.7	6	115	12.30	2.40	-8.38	0.000	19204	0.399	0.080	2789	1069	3262	3294	3231	0	0	0	0	0	0	14.16	14.53	14.81
343	-0.92	-136.3	2791	1069	3299	3230	49.4	-16.1	56	349	0.00	2.35	0.00	0.000	1030	0.000	0.060	2785	2437	3264	3298	3230	0	0	0	0	0	0	28.83	14.50	28.83
667	-0.92	-136.3	2786	2437	3298	3228	98.8	-14.6	70	673	0.00	2.35	0.00	0.000	516	0.000	0.059	2786	1066	3263	3298	3228	0	0	0	0	0	0	28.83	14.54	28.83
741	-0.92	-136.3	2786	1066	3299	3227	109.5	-13.6	84	747	0.00	2.38	0.00	0.000	1030	0.000	0.060	2786	2455	3263	3299	3227	0	0	0	0	0	0	28.83	14.54	28.83
1065	-0.92	-136.3	2786	2455	3298	3226	153.2	-13.4	102	1070	0.00	2.38	0.00	0.000	516	0.000	0.058	2786	1068	3262	3298	3226	0	0	0	0	0	0	28.83	14.55	28.83
1171	-0.92	-136.3	2787	1068	3299	3227	167.5	-13.3	122	1176	0.00	2.35	0.00	0.000	1030	0.000	0.058	2786	2451	3262	3299	3226	0	0	0	0	0	0	28.83	14.57	28.83
1494	-0.92	-136.3	2786	2451	3299	3226	209.0	-11.8	141	1500	0.00	2.35	0.00	0.000	260	0.000	0.087	2786	3782	3262	3299	3226	0	0	0	0	0	0	28.83	14.48	28.83
1558	-0.92	-136.3	2786	3782	3298	3226	216.9	-12.4	153	1564	0.00	2.17	0.00	0.000	1030	0.000	0.048	2791	2450	3262	3299	3226	0	0	0	0	0	0	28.83	14.66	28.83
1882	-0.92	-136.3	2786	2449	3298	3226	255.7	-12.1	172	1887	0.00	2.38	0.00	0.000	260	0.000	0.086	2785	3782	3262	3298	3226	0	0	0	0	0	0	28.83	14.42	28.83
1905	-0.92	-136.3	2786	3782	3299	3226	258.6	-11.9	176	1911	0.00	2.17	0.00	0.000	1030	0.000	0.048	2786	2449	3262	3298	3226	0	0	0	0	0	0	28.83	14.67	28.83
2229	-0.92	-136.3	2786	2449	3298	3226	297.2	-11.9	195	2234	0.00	2.38	0.00	0.000	260	0.000	0.086	2786	3783	3262	3298	3226	0	0	0	0	0	0	28.83	14.49	28.83
2267	-0.92	-136.3	2786	3783	3298	3226	301.7	-12.6	202	2273	0.00	2.17	0.00	0.000	1030	0.000	0.048	2786	2445	3262	3299	3226	0	0	0	0	0	0	28.83	14.69	28.83
2572	-0.92	-136.3	2786	2445	3299	3227	337.2	-11.5	218	2578	0.00	2.33	0.00	0.000	516	0.000	0.058	2786	1065	3262	3299	3226	0	0	0	0	0	0	28.83	14.52	28.83
2610	-0.92	-136.3	2787	1064	3300	3226	341.7	-11.7	225	2617	0.00	2.35	0.00	0.000	1030	0.000	0.057	2786	2452	3263	3300	3226	0	0	0	0	0	0	28.83	14.58	28.83
2916	-0.92	-136.3	2785	2453	3300	3226	375.6	-10.8	241	2922	0.00	2.33	0.00	0.000	260	0.000	0.085	2786	3780	3263	3300	3226	0	0	0	0	0	0	28.83	14.51	28.83
2928	-0.92	-136.3	2787	3780	3301	3226	377.1	-10.8	243	2934	0.00	2.17	0.00	0.000	1030	0.000	0.046	2786	2438	3263	3300	3226	0	0	0	0	0	0	28.83	14.70	28.83
3242	-0.92	-136.3	2786	2439	3301	3226	410.8	-10.6	260	3247	0.00	2.38	0.00	0.000	260	0.000	0.086	2785	3780	3263	3301	3226	0	0	0	0	0	0	28.83	14.51	28.83
3319	-0.92	-136.3	2786	3780	3301	3226	419.9	-12.2	275	3326	0.00	2.17	0.00	0.000	1030	0.000	0.047	2786	2443	3264	3301	3227	0	0	0	0	0	0	28.83	14.68	28.83
3625	-0.92	-136.3	2781	2443	3302	3226	452.4	-10.6	291	3627	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2442	3264	3302	3227	0	0	0	0	0	0	28.83	28.83	28.83
3929	-0.92	-136.3	2786	2442	3302	3226	484.5	-10.6	306	3934	0.00	2.38	0.00	0.000	260	0.000	0.085	2786	3780	3264	3302	3227	0	0	0	0	0	0	28.83	14.50	28.83
4026	-0.92	-136.3	2786	3780	3302	3227	496.1	-11.0	325	4034	0.00	2.17	0.00	0.000	1030	0.000	0.047	2786	2443	3264	3302	3227	0	0	0	0	0	0	28.83	14.68	28.83
4190	end dive: TARGET_DEPTH_EXCEEDED
state	4190	begin apogee
4196	-0.18	0.0	2786	2448	3303	3226	512.9	-10.1	334	4312	0.90	0.00	106.95	1.458	10246	0.233	0.000	3033	2443	2705	2774	2637	0	0	0	0	0	0	14.24	28.83	13.60
4313	end apogee: CONTROL_FINISHED_OK
state	4313	begin climb
4316	0.92	136.3	3032	2442	2772	2637	514.8	0.0	340	4436	1.10	2.50	107.40	1.424	10500	0.153	0.081	3375	3779	2150	2221	2079	0	0	0	0	0	0	14.21	14.01	13.39
4479	0.92	136.3	3375	3778	2217	2079	500.5	12.5	372	4485	0.00	2.38	0.00	0.000	1030	0.000	0.046	3385	2388	2148	2217	2079	0	0	0	0	0	0	28.83	14.18	28.83
4803	0.92	136.3	3385	2385	2214	2079	465.2	10.9	391	4804	0.00	0.00	0.00	0.000	6	0.000	0.000	3386	2385	2146	2214	2079	0	0	0	0	0	0	28.83	28.83	28.83
5105	0.92	136.3	3386	2385	2214	2079	432.4	10.5	406	5111	0.00	2.38	0.00	0.000	516	0.000	0.062	3395	988	2146	2214	2079	0	0	0	0	0	0	28.83	14.54	28.83
5178	0.92	136.3	3396	988	2214	2079	424.0	10.9	420	5183	0.00	2.35	0.00	0.000	1030	0.000	0.052	3395	2389	2146	2214	2079	0	0	0	0	0	0	28.83	14.59	28.83
5491	0.92	136.3	3396	2388	2213	2079	389.8	10.6	437	5492	0.00	0.00	0.00	0.000	6	0.000	0.000	3396	2389	2146	2214	2079	0	0	0	0	0	0	28.83	28.83	28.83
5793	0.92	136.3	3396	2389	2214	2079	357.0	11.1	452	5798	0.00	2.40	0.00	0.000	516	0.000	0.060	3406	982	2146	2214	2079	0	0	0	0	0	0	28.83	14.62	28.83
5846	0.92	136.3	3406	982	2213	2079	350.8	11.3	462	5851	0.00	2.35	0.00	0.000	1030	0.000	0.052	3406	2378	2146	2213	2079	0	0	0	0	0	0	28.83	14.63	28.83
6159	0.92	136.3	3407	2378	2214	2079	316.2	10.8	479	6165	0.00	2.38	0.00	0.000	516	0.000	0.060	3417	987	2146	2213	2080	0	0	0	0	0	0	28.83	14.59	28.83
6227	0.92	136.3	3417	987	2214	2079	308.4	11.0	492	6232	0.00	2.33	0.00	0.000	1030	0.000	0.050	3418	2381	2146	2214	2078	0	0	0	0	0	0	28.83	14.64	28.83
6545	0.92	136.3	3416	2381	2213	2079	271.1	11.6	510	6551	0.00	2.40	0.00	0.000	516	0.000	0.060	3427	979	2146	2213	2079	0	0	0	0	0	0	28.83	14.61	28.83
6578	0.92	136.3	3428	979	2213	2079	266.9	12.3	516	6584	0.12	2.35	0.00	0.000	5126	0.243	0.052	3397	2384	2146	2213	2079	0	0	0	0	0	0	14.39	14.62	28.83
6892	0.92	136.3	3397	2384	2212	2079	232.6	10.7	533	6893	0.00	0.00	0.00	0.000	6	0.000	0.000	3397	2384	2146	2213	2079	0	0	0	0	0	0	28.83	28.83	28.83
7194	0.92	136.3	3397	2383	2213	2078	200.3	10.3	548	7199	0.00	2.33	0.00	0.000	516	0.000	0.060	3408	981	2146	2213	2079	0	0	0	0	0	0	28.83	14.57	28.83
7253	0.92	136.3	3408	981	2214	2079	194.3	9.9	559	7259	0.00	2.33	0.00	0.000	1030	0.000	0.051	3408	2376	2146	2213	2079	0	0	0	0	0	0	28.83	14.62	28.83
7557	0.92	136.3	3408	2377	2213	2079	163.1	10.6	575	7563	0.00	2.38	0.00	0.000	516	0.000	0.060	3418	982	2146	2213	2079	0	0	0	0	0	0	28.83	14.52	28.83
7600	0.92	136.3	3419	982	2213	2079	158.4	11.0	583	7605	0.00	2.33	0.00	0.000	1030	0.000	0.051	3419	2376	2146	2214	2079	0	0	0	0	0	0	28.83	14.62	28.83
7923	0.92	136.3	3419	2377	2213	2079	123.6	10.8	602	7929	0.00	2.35	0.00	0.000	516	0.000	0.059	3427	985	2145	2212	2079	0	0	0	0	0	0	28.83	14.58	28.83
8007	0.92	136.3	3427	987	2214	2079	114.5	11.2	618	8013	0.12	2.33	0.00	0.000	5126	0.237	0.050	3396	2379	2146	2214	2079	0	0	0	0	0	0	14.38	14.62	28.83
8321	0.92	136.3	3397	2379	2214	2079	83.3	10.0	630	8322	0.00	0.00	0.00	0.000	6	0.000	0.000	3397	2379	2146	2214	2078	0	0	0	0	0	0	28.83	28.83	28.83
8621	1.08	207.8	3393	2379	2213	2079	60.9	5.9	640	8682	0.10	2.45	53.60	0.887	10756	0.166	0.061	3460	977	1858	1925	1791	0	0	0	0	0	0	14.70	14.62	14.09
8898	1.09	212.9	3459	977	1919	1788	39.6	8.9	694	8908	0.00	2.35	3.28	0.584	9222	0.000	0.052	3458	2374	1843	1912	1775	0	0	0	0	0	0	28.83	14.50	13.97
9211	1.09	212.9	3458	2373	1912	1775	9.7	10.9	720	9216	0.00	2.38	0.00	0.000	516	0.000	0.060	3466	987	1843	1912	1775	0	0	0	0	0	0	28.83	14.54	28.83
9235	1.09	212.9	3466	987	1914	1775	7.1	11.0	724	9241	0.00	2.35	0.00	0.000	1030	0.000	0.053	3467	2382	1843	1912	1775	0	0	0	0	0	0	28.83	14.57	28.83
9287	end climb: SURFACE_DEPTH_REACHED
state	9287	begin surface coast
9298	end surface coast: CONTROL_FINISHED_OK
state	9300	begin surface