Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 405 * 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 405 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 44 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 40 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 44 VBD_DBAND 2

DEVICE4 -1 MISSION 3 R_STBD_OVSHOOT 40 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 405 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 231114,223934,6703.410,-5650.926,36,0.7,36,-32.6 SPEED_LIMITS 0.109,0.246

_CALLS 2 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.01 MHEAD_RNG_PITCHd_Wd 180.6,2160,-19.0,-9.167,-21.83,1942

_SM_ANGLEo -71.7 D_GRID 515

GPS2 231114,224852,6703.390,-5650.819,5,0.8,5,-32.6

Post-dive calculations and measurements:

FREEZE 1.24,1.034,-1.740,0,1,0 SC_FREEKB 3890432

FINISH 1.2,1.025469 _24V_AH 13.39,95.880

SM_CCo 9139,75.35,0.081,0,0,1282,350.04 _10V_AH 12.94,0.000

SM_GC 2.17,9.35,0.08,75.35,0.077,0.173,0.081,212,2454,1282,-8.96,-1.24,350.04,0,0,0,0,0,0,14.54,14.62,14.55 FG_AHR_24Vo 0.000

RAFOS_CLK -5 FG_AHR_10Vo 0.000

RAFOS 0,1416787279,0.033333,0.021944,63,61,56,54,53,49,200,182,161,217,123,147 MEM 143140

RAFOS_FIX 6704.776855,-5701.207031,231114,000024,3,72,2.22 DATA_FILE_SIZE 23478,728

IRIDIUM_FIX 6631.12,-5647.69,231114,224223 CAP_FILE_SIZE 113373,0

TT8_MAMPS 0.03745,0.03745 CFSIZE 1024409600,970981376

HUMID 41.45 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.62104 INTR 0,10750.99,0x23769e,7,5

TCM_TEMP 14.60 SOUNDSPEED 1473.5

XPDR_PINGS 0 CURRENT 0.303,344.72,1

ALTIM_TOP_PING 19.5,18.9 GPS 241114,012424,6703.779,-5651.101,17,0.8,17,-32.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 394 125.93 nil 0 0 0.00

Roll_motor 83 172 194.29 nil 0 0 0.00

VBD_pump_during_apogee 253 1458 4940.02 nil 0 0 0.00

VBD_pump_during_surface 75 81 81.81 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 9133 3 398.06

Iridium_during_xfer 328 144 635.44 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 1597 24 510.54

LPSleep 6023 2 180.06

TT8_Active 459 23 142.42

TT8_Sampling 1482 42 818.77

TT8_CF8 236 56 171.94

TT8_Kalman 0 0 0.00

Analog_circuits 1395 15 270.87

GPS_charging 0 0 0.00

Compass 1090 5 70.53

RAFOS 2520 1 48.91

Transponder 4 30 1.63

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 -0.93 -116.2 145 2467 1304 1230 0.0 0.0 0 83 0.00 0.00 -61.92 0.000 16386 0.000 0.000 140 2472 2809 2813 2805 0 0 0 0 0 0 28.83 28.83 28.83

87 -0.98 -136.3 140 2467 2814 2804 3.3 -2.9 6 120 12.10 2.35 -10.18 0.000 19204 0.395 0.108 2764 3774 3268 3300 3236 0 0 0 0 0 0 14.18 14.47 14.79

349 -0.98 -136.3 2765 3774 3301 3236 52.7 -16.9 57 355 0.00 2.22 0.00 0.000 1030 0.000 0.049 2765 2430 3268 3300 3236 0 0 0 0 0 0 28.83 14.59 28.83

668 -0.98 -136.3 2765 2428 3300 3235 103.4 -15.2 70 674 0.00 2.40 0.00 0.000 260 0.000 0.085 2755 3774 3266 3301 3232 0 0 0 0 0 0 28.83 14.47 28.83

893 -0.98 -136.3 2755 3774 3301 3233 138.6 -14.7 114 898 0.00 2.17 0.00 0.000 1030 0.000 0.048 2755 2449 3266 3300 3233 0 0 0 0 0 0 28.83 14.64 28.83

1216 -0.98 -136.3 2755 2448 3301 3232 186.6 -14.4 133 1222 0.00 2.35 0.00 0.000 260 0.000 0.083 2745 3770 3266 3300 3233 0 0 0 0 0 0 28.83 14.49 28.83

1269 -0.98 -136.3 2745 3770 3301 3232 194.7 -15.0 143 1275 0.15 2.17 0.00 0.000 3078 0.284 0.047 2778 2443 3266 3301 3232 0 0 0 0 0 0 14.23 14.66 28.83

1583 -0.98 -136.3 2778 2443 3300 3232 237.8 -13.2 160 1589 0.00 2.35 0.00 0.000 260 0.000 0.086 2772 3769 3266 3301 3232 0 0 0 0 0 0 28.83 14.49 28.83

1616 -0.98 -136.3 2773 3768 3300 3233 242.3 -13.8 166 1622 0.00 2.15 0.00 0.000 1030 0.000 0.047 2773 2449 3266 3301 3232 0 0 0 0 0 0 28.83 14.67 28.83

1929 -0.98 -136.3 2773 2448 3301 3232 279.8 -11.3 183 1930 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 2448 3266 3301 3232 0 0 0 0 0 0 28.83 28.83 28.83

2232 -0.98 -136.3 2773 2448 3301 3232 314.5 -11.7 198 2233 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 2447 3267 3301 3233 0 0 0 0 0 0 28.83 28.83 28.83

2532 -0.98 -136.3 2773 2448 3301 3232 350.1 -12.0 213 2539 0.00 2.35 0.00 0.000 260 0.000 0.085 2772 3770 3266 3301 3232 0 0 0 0 0 0 28.83 14.50 28.83

2556 -0.98 -136.3 2772 3770 3302 3232 353.4 -11.9 217 2563 0.00 2.17 0.00 0.000 1030 0.000 0.047 2771 2439 3266 3301 3232 0 0 0 0 0 0 28.83 14.68 28.83

2881 -0.98 -136.3 2772 2439 3302 3232 389.4 -10.9 236 2882 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2436 3267 3302 3232 0 0 0 0 0 0 28.83 28.83 28.83

3182 -0.98 -136.3 2772 2439 3303 3232 420.2 -10.2 251 3188 0.00 2.38 0.00 0.000 260 0.000 0.085 2772 3772 3268 3303 3233 0 0 0 0 0 0 28.83 14.50 28.83

3240 -0.98 -136.3 2772 3772 3303 3232 426.6 -10.7 262 3247 0.00 2.15 0.00 0.000 1030 0.000 0.047 2772 2450 3268 3303 3233 0 0 0 0 0 0 28.83 14.68 28.83

3547 -0.98 -136.3 2771 2450 3304 3233 456.5 -9.9 278 3548 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2450 3268 3304 3233 0 0 0 0 0 0 28.83 28.83 28.83

3848 -0.98 -136.3 2773 2450 3304 3232 488.3 -10.7 293 3849 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2449 3269 3305 3233 0 0 0 0 0 0 28.83 28.83 28.83

4148 -0.98 -136.3 2772 2450 3307 3233 511.8 -0.5 308 4154 0.00 2.35 0.00 0.000 260 0.000 0.086 2772 3770 3269 3306 3233 0 0 0 0 0 0 28.83 14.49 28.83

4266 end dive: NO_VERTICAL_VELOCITY

state 4267 begin apogee

4275 -0.18 0.0 2772 2380 3307 3232 511.8 0.0 331 4386 0.85 0.00 107.85 1.458 10246 0.150 0.000 3043 2376 2707 2776 2638 0 0 0 0 0 0 14.42 28.83 13.61

4388 end apogee: CONTROL_FINISHED_OK

state 4388 begin climb

4391 0.98 136.3 3038 2376 2772 2637 511.7 0.0 337 4510 1.12 2.45 107.78 1.422 10756 0.149 0.059 3400 982 2148 2219 2078 0 0 0 0 0 0 14.21 14.03 13.39

4577 0.98 136.3 3401 982 2213 2078 496.1 10.1 374 4583 0.00 2.40 0.00 0.000 1030 0.000 0.051 3400 2369 2145 2213 2078 0 0 0 0 0 0 28.83 14.17 28.83

4896 0.98 136.3 3401 2369 2211 2078 462.8 10.6 392 4897 0.00 0.00 0.00 0.000 6 0.000 0.000 3405 2369 2144 2211 2077 0 0 0 0 0 0 28.83 28.83 28.83

5198 0.98 136.3 3401 2369 2211 2078 430.7 10.2 407 5204 0.00 2.35 0.00 0.000 516 0.000 0.061 3411 988 2144 2211 2078 0 0 0 0 0 0 28.83 14.54 28.83

5265 0.98 136.3 3411 988 2210 2078 423.1 11.3 420 5271 0.00 2.33 0.00 0.000 1030 0.000 0.051 3410 2377 2144 2211 2077 0 0 0 0 0 0 28.83 14.57 28.83

5583 0.98 136.3 3411 2373 2211 2078 387.3 11.7 438 5590 0.00 2.38 0.00 0.000 516 0.000 0.060 3421 979 2144 2211 2078 0 0 0 0 0 0 28.83 14.57 28.83

5622 0.98 136.3 3421 979 2206 2078 382.5 12.3 445 5629 0.00 2.35 0.00 0.000 1030 0.000 0.051 3421 2382 2144 2210 2078 0 0 0 0 0 0 28.83 14.56 28.83

5928 0.98 136.3 3421 2378 2210 2078 344.8 11.9 461 5933 0.00 2.38 0.00 0.000 516 0.000 0.060 3432 982 2144 2210 2078 0 0 0 0 0 0 28.83 14.58 28.83

6011 0.98 136.3 3432 981 2210 2078 334.9 11.4 477 6016 0.00 2.33 0.00 0.000 1030 0.000 0.052 3432 2375 2144 2210 2078 0 0 0 0 0 0 28.83 14.62 28.83

6334 0.98 136.3 3432 2375 2210 2078 295.3 12.3 496 6339 0.00 2.35 0.00 0.000 516 0.000 0.060 3442 987 2143 2210 2077 0 0 0 0 0 0 28.83 14.59 28.83

6373 0.98 136.3 3441 987 2210 2078 290.5 12.5 503 6380 0.12 2.33 0.00 0.000 5126 0.247 0.052 3412 2375 2144 2210 2078 0 0 0 0 0 0 14.38 14.64 28.83

6678 0.98 136.3 3412 2375 2210 2078 255.1 11.9 519 6684 0.00 2.42 0.00 0.000 260 0.000 0.080 3411 3781 2144 2210 2078 0 0 0 0 0 0 28.83 14.54 28.83

6711 0.98 136.3 3412 3781 2210 2078 250.7 13.6 525 6716 0.00 2.30 0.00 0.000 1030 0.000 0.045 3422 2374 2146 2210 2082 0 0 0 0 0 0 28.83 14.69 28.83

7024 0.98 136.3 3423 2369 2210 2078 213.5 11.8 542 7030 0.00 2.33 0.00 0.000 516 0.000 0.059 3434 987 2144 2211 2078 0 0 0 0 0 0 28.83 14.58 28.83

7108 0.98 136.3 3434 986 2210 2078 203.7 11.7 558 7114 0.00 2.33 0.00 0.000 1030 0.000 0.051 3434 2377 2144 2210 2078 0 0 0 0 0 0 28.83 14.62 28.83

7432 0.98 136.3 3433 2377 2210 2078 165.6 11.6 577 7438 0.00 2.35 0.00 0.000 516 0.000 0.059 3443 988 2144 2210 2078 0 0 0 0 0 0 28.83 14.53 28.83

7499 0.98 136.3 3443 987 2210 2078 157.8 11.6 590 7506 0.12 2.35 0.00 0.000 5126 0.248 0.050 3413 2382 2144 2211 2077 0 0 0 0 0 0 14.37 14.62 28.83

7819 0.98 136.3 3413 2382 2210 2078 124.1 10.7 608 7825 0.00 2.38 0.00 0.000 516 0.000 0.059 3423 980 2144 2211 2078 0 0 0 0 0 0 28.83 14.59 28.83

7897 0.98 136.3 3423 980 2211 2078 115.8 10.6 623 7903 0.00 2.35 0.00 0.000 1030 0.000 0.051 3423 2385 2144 2211 2078 0 0 0 0 0 0 28.83 14.62 28.83

8216 0.98 136.3 3423 2385 2216 2078 82.4 10.3 636 8222 0.00 2.40 0.00 0.000 516 0.000 0.059 3433 980 2144 2211 2078 0 0 0 0 0 0 28.83 14.58 28.83

8269 0.98 136.3 3433 980 2211 2077 76.9 9.9 646 8275 0.00 2.35 0.00 0.000 1030 0.000 0.051 3433 2384 2144 2211 2078 0 0 0 0 0 0 28.83 14.62 28.83

8583 1.00 144.7 3433 2383 2210 2078 46.9 8.7 658 8595 0.00 2.42 6.82 0.781 8708 0.000 0.060 3441 981 2116 2182 2050 0 0 0 0 0 0 28.83 14.76 14.09

8758 1.08 184.4 3442 981 2182 2050 31.4 7.1 692 8798 0.00 2.35 30.58 0.860 9222 0.000 0.051 3443 2383 1954 2020 1888 0 0 0 0 0 0 28.83 14.57 14.14

9097 end climb: SURFACE_DEPTH_REACHED

state 9097 begin surface coast

9118 end surface coast: CONTROL_FINISHED_OK

state 9118 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	405	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	44	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	40	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	231114,223934,6703.410,-5650.926,36,0.7,36,-32.6	SPEED_LIMITS	0.109,0.246
_CALLS	2	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.01	MHEAD_RNG_PITCHd_Wd	180.6,2160,-19.0,-9.167,-21.83,1942
_SM_ANGLEo	-71.7	D_GRID	515
GPS2	231114,224852,6703.390,-5650.819,5,0.8,5,-32.6

FREEZE	1.24,1.034,-1.740,0,1,0	SC_FREEKB	3890432
FINISH	1.2,1.025469	_24V_AH	13.39,95.880
SM_CCo	9139,75.35,0.081,0,0,1282,350.04	_10V_AH	12.94,0.000
SM_GC	2.17,9.35,0.08,75.35,0.077,0.173,0.081,212,2454,1282,-8.96,-1.24,350.04,0,0,0,0,0,0,14.54,14.62,14.55	FG_AHR_24Vo	0.000
RAFOS_CLK	-5	FG_AHR_10Vo	0.000
RAFOS	0,1416787279,0.033333,0.021944,63,61,56,54,53,49,200,182,161,217,123,147	MEM	143140
RAFOS_FIX	6704.776855,-5701.207031,231114,000024,3,72,2.22	DATA_FILE_SIZE	23478,728
IRIDIUM_FIX	6631.12,-5647.69,231114,224223	CAP_FILE_SIZE	113373,0
TT8_MAMPS	0.03745,0.03745	CFSIZE	1024409600,970981376
HUMID	41.45	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.62104	INTR	0,10750.99,0x23769e,7,5
TCM_TEMP	14.60	SOUNDSPEED	1473.5
XPDR_PINGS	0	CURRENT	0.303,344.72,1
ALTIM_TOP_PING	19.5,18.9	GPS	241114,012424,6703.779,-5651.101,17,0.8,17,-32.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	394	125.93	nil	0	0	0.00
Roll_motor	83	172	194.29	nil	0	0	0.00
VBD_pump_during_apogee	253	1458	4940.02	nil	0	0	0.00
VBD_pump_during_surface	75	81	81.81	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	9133	3	398.06
Iridium_during_xfer	328	144	635.44	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	1597	24	510.54
LPSleep	6023	2	180.06
TT8_Active	459	23	142.42
TT8_Sampling	1482	42	818.77
TT8_CF8	236	56	171.94
TT8_Kalman	0	0	0.00
Analog_circuits	1395	15	270.87
GPS_charging	0	0	0.00
Compass	1090	5	70.53
RAFOS	2520	1	48.91
Transponder	4	30	1.63

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	-0.93	-116.2	145	2467	1304	1230	0.0	0.0	0	83	0.00	0.00	-61.92	0.000	16386	0.000	0.000	140	2472	2809	2813	2805	0	0	0	0	0	0	28.83	28.83	28.83
87	-0.98	-136.3	140	2467	2814	2804	3.3	-2.9	6	120	12.10	2.35	-10.18	0.000	19204	0.395	0.108	2764	3774	3268	3300	3236	0	0	0	0	0	0	14.18	14.47	14.79
349	-0.98	-136.3	2765	3774	3301	3236	52.7	-16.9	57	355	0.00	2.22	0.00	0.000	1030	0.000	0.049	2765	2430	3268	3300	3236	0	0	0	0	0	0	28.83	14.59	28.83
668	-0.98	-136.3	2765	2428	3300	3235	103.4	-15.2	70	674	0.00	2.40	0.00	0.000	260	0.000	0.085	2755	3774	3266	3301	3232	0	0	0	0	0	0	28.83	14.47	28.83
893	-0.98	-136.3	2755	3774	3301	3233	138.6	-14.7	114	898	0.00	2.17	0.00	0.000	1030	0.000	0.048	2755	2449	3266	3300	3233	0	0	0	0	0	0	28.83	14.64	28.83
1216	-0.98	-136.3	2755	2448	3301	3232	186.6	-14.4	133	1222	0.00	2.35	0.00	0.000	260	0.000	0.083	2745	3770	3266	3300	3233	0	0	0	0	0	0	28.83	14.49	28.83
1269	-0.98	-136.3	2745	3770	3301	3232	194.7	-15.0	143	1275	0.15	2.17	0.00	0.000	3078	0.284	0.047	2778	2443	3266	3301	3232	0	0	0	0	0	0	14.23	14.66	28.83
1583	-0.98	-136.3	2778	2443	3300	3232	237.8	-13.2	160	1589	0.00	2.35	0.00	0.000	260	0.000	0.086	2772	3769	3266	3301	3232	0	0	0	0	0	0	28.83	14.49	28.83
1616	-0.98	-136.3	2773	3768	3300	3233	242.3	-13.8	166	1622	0.00	2.15	0.00	0.000	1030	0.000	0.047	2773	2449	3266	3301	3232	0	0	0	0	0	0	28.83	14.67	28.83
1929	-0.98	-136.3	2773	2448	3301	3232	279.8	-11.3	183	1930	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	2448	3266	3301	3232	0	0	0	0	0	0	28.83	28.83	28.83
2232	-0.98	-136.3	2773	2448	3301	3232	314.5	-11.7	198	2233	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	2447	3267	3301	3233	0	0	0	0	0	0	28.83	28.83	28.83
2532	-0.98	-136.3	2773	2448	3301	3232	350.1	-12.0	213	2539	0.00	2.35	0.00	0.000	260	0.000	0.085	2772	3770	3266	3301	3232	0	0	0	0	0	0	28.83	14.50	28.83
2556	-0.98	-136.3	2772	3770	3302	3232	353.4	-11.9	217	2563	0.00	2.17	0.00	0.000	1030	0.000	0.047	2771	2439	3266	3301	3232	0	0	0	0	0	0	28.83	14.68	28.83
2881	-0.98	-136.3	2772	2439	3302	3232	389.4	-10.9	236	2882	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2436	3267	3302	3232	0	0	0	0	0	0	28.83	28.83	28.83
3182	-0.98	-136.3	2772	2439	3303	3232	420.2	-10.2	251	3188	0.00	2.38	0.00	0.000	260	0.000	0.085	2772	3772	3268	3303	3233	0	0	0	0	0	0	28.83	14.50	28.83
3240	-0.98	-136.3	2772	3772	3303	3232	426.6	-10.7	262	3247	0.00	2.15	0.00	0.000	1030	0.000	0.047	2772	2450	3268	3303	3233	0	0	0	0	0	0	28.83	14.68	28.83
3547	-0.98	-136.3	2771	2450	3304	3233	456.5	-9.9	278	3548	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2450	3268	3304	3233	0	0	0	0	0	0	28.83	28.83	28.83
3848	-0.98	-136.3	2773	2450	3304	3232	488.3	-10.7	293	3849	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2449	3269	3305	3233	0	0	0	0	0	0	28.83	28.83	28.83
4148	-0.98	-136.3	2772	2450	3307	3233	511.8	-0.5	308	4154	0.00	2.35	0.00	0.000	260	0.000	0.086	2772	3770	3269	3306	3233	0	0	0	0	0	0	28.83	14.49	28.83
4266	end dive: NO_VERTICAL_VELOCITY
state	4267	begin apogee
4275	-0.18	0.0	2772	2380	3307	3232	511.8	0.0	331	4386	0.85	0.00	107.85	1.458	10246	0.150	0.000	3043	2376	2707	2776	2638	0	0	0	0	0	0	14.42	28.83	13.61
4388	end apogee: CONTROL_FINISHED_OK
state	4388	begin climb
4391	0.98	136.3	3038	2376	2772	2637	511.7	0.0	337	4510	1.12	2.45	107.78	1.422	10756	0.149	0.059	3400	982	2148	2219	2078	0	0	0	0	0	0	14.21	14.03	13.39
4577	0.98	136.3	3401	982	2213	2078	496.1	10.1	374	4583	0.00	2.40	0.00	0.000	1030	0.000	0.051	3400	2369	2145	2213	2078	0	0	0	0	0	0	28.83	14.17	28.83
4896	0.98	136.3	3401	2369	2211	2078	462.8	10.6	392	4897	0.00	0.00	0.00	0.000	6	0.000	0.000	3405	2369	2144	2211	2077	0	0	0	0	0	0	28.83	28.83	28.83
5198	0.98	136.3	3401	2369	2211	2078	430.7	10.2	407	5204	0.00	2.35	0.00	0.000	516	0.000	0.061	3411	988	2144	2211	2078	0	0	0	0	0	0	28.83	14.54	28.83
5265	0.98	136.3	3411	988	2210	2078	423.1	11.3	420	5271	0.00	2.33	0.00	0.000	1030	0.000	0.051	3410	2377	2144	2211	2077	0	0	0	0	0	0	28.83	14.57	28.83
5583	0.98	136.3	3411	2373	2211	2078	387.3	11.7	438	5590	0.00	2.38	0.00	0.000	516	0.000	0.060	3421	979	2144	2211	2078	0	0	0	0	0	0	28.83	14.57	28.83
5622	0.98	136.3	3421	979	2206	2078	382.5	12.3	445	5629	0.00	2.35	0.00	0.000	1030	0.000	0.051	3421	2382	2144	2210	2078	0	0	0	0	0	0	28.83	14.56	28.83
5928	0.98	136.3	3421	2378	2210	2078	344.8	11.9	461	5933	0.00	2.38	0.00	0.000	516	0.000	0.060	3432	982	2144	2210	2078	0	0	0	0	0	0	28.83	14.58	28.83
6011	0.98	136.3	3432	981	2210	2078	334.9	11.4	477	6016	0.00	2.33	0.00	0.000	1030	0.000	0.052	3432	2375	2144	2210	2078	0	0	0	0	0	0	28.83	14.62	28.83
6334	0.98	136.3	3432	2375	2210	2078	295.3	12.3	496	6339	0.00	2.35	0.00	0.000	516	0.000	0.060	3442	987	2143	2210	2077	0	0	0	0	0	0	28.83	14.59	28.83
6373	0.98	136.3	3441	987	2210	2078	290.5	12.5	503	6380	0.12	2.33	0.00	0.000	5126	0.247	0.052	3412	2375	2144	2210	2078	0	0	0	0	0	0	14.38	14.64	28.83
6678	0.98	136.3	3412	2375	2210	2078	255.1	11.9	519	6684	0.00	2.42	0.00	0.000	260	0.000	0.080	3411	3781	2144	2210	2078	0	0	0	0	0	0	28.83	14.54	28.83
6711	0.98	136.3	3412	3781	2210	2078	250.7	13.6	525	6716	0.00	2.30	0.00	0.000	1030	0.000	0.045	3422	2374	2146	2210	2082	0	0	0	0	0	0	28.83	14.69	28.83
7024	0.98	136.3	3423	2369	2210	2078	213.5	11.8	542	7030	0.00	2.33	0.00	0.000	516	0.000	0.059	3434	987	2144	2211	2078	0	0	0	0	0	0	28.83	14.58	28.83
7108	0.98	136.3	3434	986	2210	2078	203.7	11.7	558	7114	0.00	2.33	0.00	0.000	1030	0.000	0.051	3434	2377	2144	2210	2078	0	0	0	0	0	0	28.83	14.62	28.83
7432	0.98	136.3	3433	2377	2210	2078	165.6	11.6	577	7438	0.00	2.35	0.00	0.000	516	0.000	0.059	3443	988	2144	2210	2078	0	0	0	0	0	0	28.83	14.53	28.83
7499	0.98	136.3	3443	987	2210	2078	157.8	11.6	590	7506	0.12	2.35	0.00	0.000	5126	0.248	0.050	3413	2382	2144	2211	2077	0	0	0	0	0	0	14.37	14.62	28.83
7819	0.98	136.3	3413	2382	2210	2078	124.1	10.7	608	7825	0.00	2.38	0.00	0.000	516	0.000	0.059	3423	980	2144	2211	2078	0	0	0	0	0	0	28.83	14.59	28.83
7897	0.98	136.3	3423	980	2211	2078	115.8	10.6	623	7903	0.00	2.35	0.00	0.000	1030	0.000	0.051	3423	2385	2144	2211	2078	0	0	0	0	0	0	28.83	14.62	28.83
8216	0.98	136.3	3423	2385	2216	2078	82.4	10.3	636	8222	0.00	2.40	0.00	0.000	516	0.000	0.059	3433	980	2144	2211	2078	0	0	0	0	0	0	28.83	14.58	28.83
8269	0.98	136.3	3433	980	2211	2077	76.9	9.9	646	8275	0.00	2.35	0.00	0.000	1030	0.000	0.051	3433	2384	2144	2211	2078	0	0	0	0	0	0	28.83	14.62	28.83
8583	1.00	144.7	3433	2383	2210	2078	46.9	8.7	658	8595	0.00	2.42	6.82	0.781	8708	0.000	0.060	3441	981	2116	2182	2050	0	0	0	0	0	0	28.83	14.76	14.09
8758	1.08	184.4	3442	981	2182	2050	31.4	7.1	692	8798	0.00	2.35	30.58	0.860	9222	0.000	0.051	3443	2383	1954	2020	1888	0	0	0	0	0	0	28.83	14.57	14.14
9097	end climb: SURFACE_DEPTH_REACHED
state	9097	begin surface coast
9118	end surface coast: CONTROL_FINISHED_OK
state	9118	begin surface