Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 404 * 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 404 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 44 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 44 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 404 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 231114,194322,6703.660,-5654.187,40,0.9,40,-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 2.06 MHEAD_RNG_PITCHd_Wd 159.7,4542,-17.5,-9.167,-20.44,2275

_SM_ANGLEo -70.1 D_GRID 541

GPS2 231114,194947,6703.667,-5654.053,5,0.9,5,-32.6

Post-dive calculations and measurements:

FREEZE 1.25,1.033,-1.789,0,1,0 SC_FREEKB 3890752

FINISH 1.3,1.026148 _24V_AH 13.36,95.711

SM_CCo 10006,51.67,0.083,0,0,1281,350.04 _10V_AH 12.74,0.000

SM_GC 2.36,9.40,0.10,51.67,0.075,0.151,0.083,208,2463,1281,-8.97,-0.88,350.04,0,0,0,0,0,0,14.56,14.64,14.57 FG_AHR_24Vo 0.000

RAFOS_CLK 0 FG_AHR_10Vo 0.000

RAFOS 0,1416772867,20.033333,20.018612,69,58,57,56,56,54,191,113,123,169,159,209 MEM 143020

RAFOS_FIX 6704.776855,-5701.207031,231114,000024,3,72,2.22 DATA_FILE_SIZE 26753,734

IRIDIUM_FIX 6631.12,-5652.31,231114,165628 CAP_FILE_SIZE 117237,0

TT8_MAMPS 0.03745,0.03745 CFSIZE 1024409600,971063296

HUMID 41.80 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.62104 INTR 0,10114.54,0x23769e,7,5

TCM_TEMP 14.50 SOUNDSPEED 1474.0

XPDR_PINGS 0 CURRENT 0.143,24.95,1

ALTIM_TOP_PING 19.4,18.4 GPS 231114,223934,6703.410,-5650.926,36,0.7,36,-32.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 400 128.26 nil 0 0 0.00

Roll_motor 84 151 171.55 nil 0 0 0.00

VBD_pump_during_apogee 275 1486 5472.43 nil 0 0 0.00

VBD_pump_during_surface 51 82 57.04 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 10000 3 434.47

Iridium_during_xfer 215 147 425.97 nil 0 0 0.00

Transponder_ping 0 420 1.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 20 1.80

TT8 1626 24 511.71

LPSleep 6745 2 198.51

TT8_Active 462 23 141.08

TT8_Sampling 1382 42 751.40

TT8_CF8 248 56 177.42

TT8_Kalman 0 0 0.00

Analog_circuits 1294 15 247.35

GPS_charging 0 0 0.00

Compass 1108 5 70.58

RAFOS 2520 1 48.16

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 -136.3 149 2471 1303 1230 0.0 0.0 0 93 0.00 0.00 -70.97 0.000 16386 0.000 0.000 148 2472 3032 3036 3029 0 0 0 0 0 0 28.83 28.83 28.83

96 -0.92 -136.3 146 2472 3040 3028 3.7 -3.0 7 120 12.27 2.47 -4.72 0.000 19204 0.401 0.081 2790 1061 3268 3293 3243 0 0 0 0 0 0 14.19 14.54 14.81

344 -0.92 -136.3 2790 1061 3297 3243 51.4 -17.1 55 349 0.00 2.35 0.00 0.000 1030 0.000 0.060 2786 2435 3269 3296 3242 0 0 0 0 0 0 28.83 14.50 28.83

679 -0.92 -136.3 2787 2435 3297 3239 101.5 -13.6 71 685 0.00 2.40 0.00 0.000 260 0.000 0.088 2786 3786 3268 3297 3239 0 0 0 0 0 0 28.83 14.45 28.83

732 -0.92 -136.3 2785 3785 3297 3239 109.3 -14.2 81 737 0.00 2.20 0.00 0.000 1030 0.000 0.048 2785 2449 3267 3297 3238 0 0 0 0 0 0 28.83 14.64 28.83

1055 -0.92 -136.3 2786 2446 3297 3238 152.4 -12.7 97 1060 0.00 2.40 0.00 0.000 260 0.000 0.087 2785 3787 3265 3297 3234 0 0 0 0 0 0 28.83 14.48 28.83

1072 -0.92 -136.3 2785 3788 3297 3237 154.8 -13.0 100 1079 0.00 2.20 0.00 0.000 1030 0.000 0.048 2785 2444 3266 3296 3237 0 0 0 0 0 0 28.83 14.66 28.83

1378 -0.92 -136.3 2785 2444 3297 3237 194.1 -13.0 116 1379 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2444 3267 3297 3237 0 0 0 0 0 0 28.83 28.83 28.83

1678 -0.92 -136.3 2785 2444 3297 3237 230.2 -11.4 131 1680 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2444 3267 3299 3236 0 0 0 0 0 0 28.83 28.83 28.83

1980 -0.92 -136.3 2786 2444 3297 3237 265.1 -11.6 146 1981 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2444 3267 3297 3237 0 0 0 0 0 0 28.83 28.83 28.83

2278 -0.92 -136.3 2785 2444 3297 3237 300.2 -11.3 161 2283 0.00 2.40 0.00 0.000 260 0.000 0.087 2785 3787 3267 3297 3237 0 0 0 0 0 0 28.83 14.48 28.83

2301 -0.92 -136.3 2785 3787 3297 3237 302.9 -11.6 165 2307 0.00 2.20 0.00 0.000 1030 0.000 0.048 2785 2440 3267 3297 3237 0 0 0 0 0 0 28.83 14.68 28.83

2624 -0.92 -136.3 2785 2440 3298 3237 338.5 -10.6 184 2630 0.00 2.40 0.00 0.000 260 0.000 0.086 2785 3787 3268 3298 3238 0 0 0 0 0 0 28.83 14.48 28.83

2677 -0.92 -136.3 2784 3786 3298 3238 344.3 -11.2 194 2683 0.00 2.20 0.00 0.000 1030 0.000 0.047 2785 2441 3267 3296 3238 0 0 0 0 0 0 28.83 14.66 28.83

2991 -0.92 -136.3 2785 2441 3300 3238 377.2 -10.1 211 2992 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2442 3269 3300 3238 0 0 0 0 0 0 28.83 28.83 28.83

3293 -0.92 -136.3 2785 2441 3301 3237 405.9 -9.5 226 3295 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2441 3269 3300 3238 0 0 0 0 0 0 28.83 28.83 28.83

3590 -0.92 -136.3 2785 2441 3301 3238 434.4 -9.6 241 3592 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2441 3269 3301 3238 0 0 0 0 0 0 28.83 28.83 28.83

3893 -0.92 -136.3 2785 2442 3300 3238 463.8 -10.1 256 3895 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2442 3268 3298 3238 0 0 0 0 0 0 28.83 28.83 28.83

4192 -0.92 -136.3 2785 2441 3302 3238 493.0 -9.6 271 4198 0.00 2.40 0.00 0.000 260 0.000 0.086 2785 3780 3270 3302 3238 0 0 0 0 0 0 28.83 14.47 28.83

4265 -0.92 -136.3 2785 3780 3302 3237 500.7 -9.9 285 4271 0.00 2.20 0.00 0.000 1030 0.000 0.047 2785 2445 3269 3302 3237 0 0 0 0 0 0 28.83 14.67 28.83

4579 -0.92 -136.3 2786 2438 3302 3238 533.0 -10.6 302 4585 0.00 2.40 0.00 0.000 260 0.000 0.085 2785 3783 3270 3302 3238 0 0 0 0 0 0 28.83 14.49 28.83

4750 end dive: NO_VERTICAL_VELOCITY

state 4750 begin apogee

4758 -0.18 0.0 2785 2370 3303 3237 536.9 0.0 336 4873 0.80 0.00 108.53 1.486 10246 0.150 0.000 3035 2370 2706 2774 2638 0 0 0 0 0 0 14.42 28.83 13.59

4874 end apogee: CONTROL_FINISHED_OK

state 4874 begin climb

4877 0.92 136.3 3035 2370 2774 2637 536.8 0.0 342 4997 1.08 2.45 108.57 1.449 10756 0.153 0.060 3381 979 2149 2221 2078 0 0 0 0 0 0 14.21 14.02 13.36

5050 0.92 136.3 3381 978 2214 2078 523.0 11.2 376 5055 0.00 2.42 0.00 0.000 1030 0.000 0.050 3380 2379 2146 2214 2078 0 0 0 0 0 0 28.83 14.14 28.83

5363 0.92 136.3 3381 2379 2211 2077 489.0 11.1 393 5364 0.00 0.00 0.00 0.000 6 0.000 0.000 3381 2379 2144 2212 2077 0 0 0 0 0 0 28.83 28.83 28.83

5665 0.92 136.3 3380 2379 2211 2078 454.5 11.9 408 5671 0.00 2.42 0.00 0.000 516 0.000 0.061 3389 969 2144 2211 2077 0 0 0 0 0 0 28.83 14.54 28.83

5718 0.92 136.3 3390 969 2212 2077 447.6 12.8 418 5723 0.00 2.38 0.00 0.000 1030 0.000 0.051 3390 2387 2144 2211 2078 0 0 0 0 0 0 28.83 14.57 28.83

6031 0.92 136.3 3390 2387 2210 2077 409.3 11.7 435 6037 0.00 2.40 0.00 0.000 516 0.000 0.061 3399 974 2144 2211 2077 0 0 0 0 0 0 28.83 14.57 28.83

6104 0.92 136.3 3399 974 2212 2077 399.7 13.7 449 6110 0.00 2.35 0.00 0.000 1030 0.000 0.051 3399 2380 2144 2211 2077 0 0 0 0 0 0 28.83 14.61 28.83

6417 0.92 136.3 3399 2381 2211 2077 359.3 12.5 466 6423 0.00 2.38 0.00 0.000 516 0.000 0.060 3410 976 2144 2211 2077 0 0 0 0 0 0 28.83 14.57 28.83

6465 0.92 136.3 3410 975 2211 2077 353.5 12.4 475 6471 0.00 2.35 0.00 0.000 1030 0.000 0.050 3410 2377 2144 2211 2077 0 0 0 0 0 0 28.83 14.62 28.83

6784 0.92 136.3 3410 2376 2210 2077 315.2 11.8 493 6790 0.00 2.38 0.00 0.000 516 0.000 0.060 3421 974 2143 2210 2077 0 0 0 0 0 0 28.83 14.59 28.83

6837 0.92 136.3 3421 973 2211 2077 308.8 12.3 503 6843 0.00 2.35 0.00 0.000 1030 0.000 0.051 3421 2382 2144 2211 2077 0 0 0 0 0 0 28.83 14.62 28.83

7151 0.92 136.3 3421 2382 2211 2077 271.3 11.8 520 7157 0.00 2.38 0.00 0.000 516 0.000 0.060 3431 975 2143 2210 2077 0 0 0 0 0 0 28.83 14.59 28.83

7198 0.92 136.3 3431 975 2211 2077 265.5 11.4 529 7205 0.15 2.35 0.00 0.000 5126 0.233 0.050 3394 2377 2144 2211 2077 0 0 0 0 0 0 14.38 14.64 28.83

7518 0.92 136.3 3393 2377 2211 2077 231.1 10.5 547 7524 0.00 2.38 0.00 0.000 516 0.000 0.060 3405 970 2144 2211 2078 0 0 0 0 0 0 28.83 14.61 28.83

7551 0.92 136.3 3405 970 2205 2077 227.5 10.7 553 7556 0.00 2.35 0.00 0.000 1030 0.000 0.050 3404 2382 2144 2211 2077 0 0 0 0 0 0 28.83 14.64 28.83

7864 0.92 136.3 3405 2382 2211 2077 194.3 10.2 570 7870 0.00 2.38 0.00 0.000 516 0.000 0.059 3413 975 2143 2210 2077 0 0 0 0 0 0 28.83 14.59 28.83

7941 0.92 136.3 3415 974 2211 2077 186.4 10.1 585 7948 0.00 2.33 0.00 0.000 1030 0.000 0.050 3413 2375 2144 2211 2077 0 0 0 0 0 0 28.83 14.62 28.83

8247 0.92 136.3 3414 2375 2211 2077 155.7 10.3 601 8253 0.00 2.35 0.00 0.000 516 0.000 0.060 3424 975 2144 2211 2077 0 0 0 0 0 0 28.83 14.59 28.83

8295 0.92 136.3 3423 975 2211 2078 150.6 10.9 610 8301 0.12 2.35 0.00 0.000 5126 0.239 0.050 3394 2377 2144 2211 2078 0 0 0 0 0 0 14.39 14.62 28.83

8615 0.92 136.3 3393 2377 2211 2077 121.3 9.3 628 8616 0.00 0.00 0.00 0.000 6 0.000 0.000 3393 2376 2144 2211 2077 0 0 0 0 0 0 28.83 28.83 28.83

8934 0.92 136.3 3394 2376 2211 2077 91.9 9.2 639 8940 0.00 2.30 0.00 0.000 516 0.000 0.060 3404 974 2144 2211 2077 0 0 0 0 0 0 28.83 14.57 28.83

9003 0.94 144.5 3405 975 2211 2077 85.6 8.8 652 9017 0.00 2.35 7.05 0.812 9222 0.000 0.052 3404 2382 2115 2182 2048 0 0 0 0 0 0 28.83 14.62 14.09

9330 0.96 154.7 3404 2382 2181 2047 56.7 8.7 667 9345 0.00 2.38 8.57 0.831 8708 0.000 0.061 3414 973 2075 2141 2009 0 0 0 0 0 0 28.83 14.73 14.13

9483 0.97 156.7 3414 973 2140 2009 42.8 9.1 697 9488 0.00 2.35 0.00 0.000 1030 0.000 0.051 3414 2383 2074 2140 2009 0 0 0 0 0 0 28.83 14.63 28.83

9796 1.15 237.6 3414 2383 2140 2009 21.3 5.5 715 9847 0.12 0.00 42.85 0.145 10246 0.148 0.000 3467 2383 1743 1815 1671 0 0 0 0 0 0 14.66 28.83 14.49

9975 end climb: SURFACE_DEPTH_REACHED

state 9975 begin surface coast

9986 end surface coast: CONTROL_FINISHED_OK

state 9986 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	404	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	44	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	231114,194322,6703.660,-5654.187,40,0.9,40,-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	2.06	MHEAD_RNG_PITCHd_Wd	159.7,4542,-17.5,-9.167,-20.44,2275
_SM_ANGLEo	-70.1	D_GRID	541
GPS2	231114,194947,6703.667,-5654.053,5,0.9,5,-32.6

FREEZE	1.25,1.033,-1.789,0,1,0	SC_FREEKB	3890752
FINISH	1.3,1.026148	_24V_AH	13.36,95.711
SM_CCo	10006,51.67,0.083,0,0,1281,350.04	_10V_AH	12.74,0.000
SM_GC	2.36,9.40,0.10,51.67,0.075,0.151,0.083,208,2463,1281,-8.97,-0.88,350.04,0,0,0,0,0,0,14.56,14.64,14.57	FG_AHR_24Vo	0.000
RAFOS_CLK	0	FG_AHR_10Vo	0.000
RAFOS	0,1416772867,20.033333,20.018612,69,58,57,56,56,54,191,113,123,169,159,209	MEM	143020
RAFOS_FIX	6704.776855,-5701.207031,231114,000024,3,72,2.22	DATA_FILE_SIZE	26753,734
IRIDIUM_FIX	6631.12,-5652.31,231114,165628	CAP_FILE_SIZE	117237,0
TT8_MAMPS	0.03745,0.03745	CFSIZE	1024409600,971063296
HUMID	41.80	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.62104	INTR	0,10114.54,0x23769e,7,5
TCM_TEMP	14.50	SOUNDSPEED	1474.0
XPDR_PINGS	0	CURRENT	0.143,24.95,1
ALTIM_TOP_PING	19.4,18.4	GPS	231114,223934,6703.410,-5650.926,36,0.7,36,-32.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	400	128.26	nil	0	0	0.00
Roll_motor	84	151	171.55	nil	0	0	0.00
VBD_pump_during_apogee	275	1486	5472.43	nil	0	0	0.00
VBD_pump_during_surface	51	82	57.04	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	10000	3	434.47
Iridium_during_xfer	215	147	425.97	nil	0	0	0.00
Transponder_ping	0	420	1.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	20	1.80
TT8	1626	24	511.71
LPSleep	6745	2	198.51
TT8_Active	462	23	141.08
TT8_Sampling	1382	42	751.40
TT8_CF8	248	56	177.42
TT8_Kalman	0	0	0.00
Analog_circuits	1294	15	247.35
GPS_charging	0	0	0.00
Compass	1108	5	70.58
RAFOS	2520	1	48.16
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	149	2471	1303	1230	0.0	0.0	0	93	0.00	0.00	-70.97	0.000	16386	0.000	0.000	148	2472	3032	3036	3029	0	0	0	0	0	0	28.83	28.83	28.83
96	-0.92	-136.3	146	2472	3040	3028	3.7	-3.0	7	120	12.27	2.47	-4.72	0.000	19204	0.401	0.081	2790	1061	3268	3293	3243	0	0	0	0	0	0	14.19	14.54	14.81
344	-0.92	-136.3	2790	1061	3297	3243	51.4	-17.1	55	349	0.00	2.35	0.00	0.000	1030	0.000	0.060	2786	2435	3269	3296	3242	0	0	0	0	0	0	28.83	14.50	28.83
679	-0.92	-136.3	2787	2435	3297	3239	101.5	-13.6	71	685	0.00	2.40	0.00	0.000	260	0.000	0.088	2786	3786	3268	3297	3239	0	0	0	0	0	0	28.83	14.45	28.83
732	-0.92	-136.3	2785	3785	3297	3239	109.3	-14.2	81	737	0.00	2.20	0.00	0.000	1030	0.000	0.048	2785	2449	3267	3297	3238	0	0	0	0	0	0	28.83	14.64	28.83
1055	-0.92	-136.3	2786	2446	3297	3238	152.4	-12.7	97	1060	0.00	2.40	0.00	0.000	260	0.000	0.087	2785	3787	3265	3297	3234	0	0	0	0	0	0	28.83	14.48	28.83
1072	-0.92	-136.3	2785	3788	3297	3237	154.8	-13.0	100	1079	0.00	2.20	0.00	0.000	1030	0.000	0.048	2785	2444	3266	3296	3237	0	0	0	0	0	0	28.83	14.66	28.83
1378	-0.92	-136.3	2785	2444	3297	3237	194.1	-13.0	116	1379	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2444	3267	3297	3237	0	0	0	0	0	0	28.83	28.83	28.83
1678	-0.92	-136.3	2785	2444	3297	3237	230.2	-11.4	131	1680	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2444	3267	3299	3236	0	0	0	0	0	0	28.83	28.83	28.83
1980	-0.92	-136.3	2786	2444	3297	3237	265.1	-11.6	146	1981	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2444	3267	3297	3237	0	0	0	0	0	0	28.83	28.83	28.83
2278	-0.92	-136.3	2785	2444	3297	3237	300.2	-11.3	161	2283	0.00	2.40	0.00	0.000	260	0.000	0.087	2785	3787	3267	3297	3237	0	0	0	0	0	0	28.83	14.48	28.83
2301	-0.92	-136.3	2785	3787	3297	3237	302.9	-11.6	165	2307	0.00	2.20	0.00	0.000	1030	0.000	0.048	2785	2440	3267	3297	3237	0	0	0	0	0	0	28.83	14.68	28.83
2624	-0.92	-136.3	2785	2440	3298	3237	338.5	-10.6	184	2630	0.00	2.40	0.00	0.000	260	0.000	0.086	2785	3787	3268	3298	3238	0	0	0	0	0	0	28.83	14.48	28.83
2677	-0.92	-136.3	2784	3786	3298	3238	344.3	-11.2	194	2683	0.00	2.20	0.00	0.000	1030	0.000	0.047	2785	2441	3267	3296	3238	0	0	0	0	0	0	28.83	14.66	28.83
2991	-0.92	-136.3	2785	2441	3300	3238	377.2	-10.1	211	2992	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2442	3269	3300	3238	0	0	0	0	0	0	28.83	28.83	28.83
3293	-0.92	-136.3	2785	2441	3301	3237	405.9	-9.5	226	3295	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2441	3269	3300	3238	0	0	0	0	0	0	28.83	28.83	28.83
3590	-0.92	-136.3	2785	2441	3301	3238	434.4	-9.6	241	3592	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2441	3269	3301	3238	0	0	0	0	0	0	28.83	28.83	28.83
3893	-0.92	-136.3	2785	2442	3300	3238	463.8	-10.1	256	3895	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2442	3268	3298	3238	0	0	0	0	0	0	28.83	28.83	28.83
4192	-0.92	-136.3	2785	2441	3302	3238	493.0	-9.6	271	4198	0.00	2.40	0.00	0.000	260	0.000	0.086	2785	3780	3270	3302	3238	0	0	0	0	0	0	28.83	14.47	28.83
4265	-0.92	-136.3	2785	3780	3302	3237	500.7	-9.9	285	4271	0.00	2.20	0.00	0.000	1030	0.000	0.047	2785	2445	3269	3302	3237	0	0	0	0	0	0	28.83	14.67	28.83
4579	-0.92	-136.3	2786	2438	3302	3238	533.0	-10.6	302	4585	0.00	2.40	0.00	0.000	260	0.000	0.085	2785	3783	3270	3302	3238	0	0	0	0	0	0	28.83	14.49	28.83
4750	end dive: NO_VERTICAL_VELOCITY
state	4750	begin apogee
4758	-0.18	0.0	2785	2370	3303	3237	536.9	0.0	336	4873	0.80	0.00	108.53	1.486	10246	0.150	0.000	3035	2370	2706	2774	2638	0	0	0	0	0	0	14.42	28.83	13.59
4874	end apogee: CONTROL_FINISHED_OK
state	4874	begin climb
4877	0.92	136.3	3035	2370	2774	2637	536.8	0.0	342	4997	1.08	2.45	108.57	1.449	10756	0.153	0.060	3381	979	2149	2221	2078	0	0	0	0	0	0	14.21	14.02	13.36
5050	0.92	136.3	3381	978	2214	2078	523.0	11.2	376	5055	0.00	2.42	0.00	0.000	1030	0.000	0.050	3380	2379	2146	2214	2078	0	0	0	0	0	0	28.83	14.14	28.83
5363	0.92	136.3	3381	2379	2211	2077	489.0	11.1	393	5364	0.00	0.00	0.00	0.000	6	0.000	0.000	3381	2379	2144	2212	2077	0	0	0	0	0	0	28.83	28.83	28.83
5665	0.92	136.3	3380	2379	2211	2078	454.5	11.9	408	5671	0.00	2.42	0.00	0.000	516	0.000	0.061	3389	969	2144	2211	2077	0	0	0	0	0	0	28.83	14.54	28.83
5718	0.92	136.3	3390	969	2212	2077	447.6	12.8	418	5723	0.00	2.38	0.00	0.000	1030	0.000	0.051	3390	2387	2144	2211	2078	0	0	0	0	0	0	28.83	14.57	28.83
6031	0.92	136.3	3390	2387	2210	2077	409.3	11.7	435	6037	0.00	2.40	0.00	0.000	516	0.000	0.061	3399	974	2144	2211	2077	0	0	0	0	0	0	28.83	14.57	28.83
6104	0.92	136.3	3399	974	2212	2077	399.7	13.7	449	6110	0.00	2.35	0.00	0.000	1030	0.000	0.051	3399	2380	2144	2211	2077	0	0	0	0	0	0	28.83	14.61	28.83
6417	0.92	136.3	3399	2381	2211	2077	359.3	12.5	466	6423	0.00	2.38	0.00	0.000	516	0.000	0.060	3410	976	2144	2211	2077	0	0	0	0	0	0	28.83	14.57	28.83
6465	0.92	136.3	3410	975	2211	2077	353.5	12.4	475	6471	0.00	2.35	0.00	0.000	1030	0.000	0.050	3410	2377	2144	2211	2077	0	0	0	0	0	0	28.83	14.62	28.83
6784	0.92	136.3	3410	2376	2210	2077	315.2	11.8	493	6790	0.00	2.38	0.00	0.000	516	0.000	0.060	3421	974	2143	2210	2077	0	0	0	0	0	0	28.83	14.59	28.83
6837	0.92	136.3	3421	973	2211	2077	308.8	12.3	503	6843	0.00	2.35	0.00	0.000	1030	0.000	0.051	3421	2382	2144	2211	2077	0	0	0	0	0	0	28.83	14.62	28.83
7151	0.92	136.3	3421	2382	2211	2077	271.3	11.8	520	7157	0.00	2.38	0.00	0.000	516	0.000	0.060	3431	975	2143	2210	2077	0	0	0	0	0	0	28.83	14.59	28.83
7198	0.92	136.3	3431	975	2211	2077	265.5	11.4	529	7205	0.15	2.35	0.00	0.000	5126	0.233	0.050	3394	2377	2144	2211	2077	0	0	0	0	0	0	14.38	14.64	28.83
7518	0.92	136.3	3393	2377	2211	2077	231.1	10.5	547	7524	0.00	2.38	0.00	0.000	516	0.000	0.060	3405	970	2144	2211	2078	0	0	0	0	0	0	28.83	14.61	28.83
7551	0.92	136.3	3405	970	2205	2077	227.5	10.7	553	7556	0.00	2.35	0.00	0.000	1030	0.000	0.050	3404	2382	2144	2211	2077	0	0	0	0	0	0	28.83	14.64	28.83
7864	0.92	136.3	3405	2382	2211	2077	194.3	10.2	570	7870	0.00	2.38	0.00	0.000	516	0.000	0.059	3413	975	2143	2210	2077	0	0	0	0	0	0	28.83	14.59	28.83
7941	0.92	136.3	3415	974	2211	2077	186.4	10.1	585	7948	0.00	2.33	0.00	0.000	1030	0.000	0.050	3413	2375	2144	2211	2077	0	0	0	0	0	0	28.83	14.62	28.83
8247	0.92	136.3	3414	2375	2211	2077	155.7	10.3	601	8253	0.00	2.35	0.00	0.000	516	0.000	0.060	3424	975	2144	2211	2077	0	0	0	0	0	0	28.83	14.59	28.83
8295	0.92	136.3	3423	975	2211	2078	150.6	10.9	610	8301	0.12	2.35	0.00	0.000	5126	0.239	0.050	3394	2377	2144	2211	2078	0	0	0	0	0	0	14.39	14.62	28.83
8615	0.92	136.3	3393	2377	2211	2077	121.3	9.3	628	8616	0.00	0.00	0.00	0.000	6	0.000	0.000	3393	2376	2144	2211	2077	0	0	0	0	0	0	28.83	28.83	28.83
8934	0.92	136.3	3394	2376	2211	2077	91.9	9.2	639	8940	0.00	2.30	0.00	0.000	516	0.000	0.060	3404	974	2144	2211	2077	0	0	0	0	0	0	28.83	14.57	28.83
9003	0.94	144.5	3405	975	2211	2077	85.6	8.8	652	9017	0.00	2.35	7.05	0.812	9222	0.000	0.052	3404	2382	2115	2182	2048	0	0	0	0	0	0	28.83	14.62	14.09
9330	0.96	154.7	3404	2382	2181	2047	56.7	8.7	667	9345	0.00	2.38	8.57	0.831	8708	0.000	0.061	3414	973	2075	2141	2009	0	0	0	0	0	0	28.83	14.73	14.13
9483	0.97	156.7	3414	973	2140	2009	42.8	9.1	697	9488	0.00	2.35	0.00	0.000	1030	0.000	0.051	3414	2383	2074	2140	2009	0	0	0	0	0	0	28.83	14.63	28.83
9796	1.15	237.6	3414	2383	2140	2009	21.3	5.5	715	9847	0.12	0.00	42.85	0.145	10246	0.148	0.000	3467	2383	1743	1815	1671	0	0	0	0	0	0	14.66	28.83	14.49
9975	end climb: SURFACE_DEPTH_REACHED
state	9975	begin surface coast
9986	end surface coast: CONTROL_FINISHED_OK
state	9986	begin surface