Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 410 * 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 410 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 58 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 36 XPDR_VALID 1

D_BOOST 25 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.1

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 1 VBD_MIN 500 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 DEVICE1 -1

SURFACE_URGENCY 20 NOCOMM_ACTION 161 C_VBD 2709 DEVICE2 -1

SURFACE_URGENCY_TRY 10 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 20 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE4 -1

T_DIVE 360 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 390 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0022 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 3 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 25 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 97

USE_BATHY -3 T_RSLEEP 3 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 2 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE 32

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 350 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 200 AH0_10V 0 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3880 MINV_24V 12 SIM_PITCH 0

MAX_BUOY 140 C_PITCH 3095 MINV_10V 12 SEABIRD_T_G 0.0043902649

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00063436845

GLIDE_SLOPE 40 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_T_I 2.5093383e-05

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

RHO 1.0275 P_OVSHOOT_WITHG 0.079999998 PRESSURE_YINT -51.110779 SEABIRD_C_G -9.69524

MASS 52199 PITCH_GAIN 28 PRESSURE_SLOPE 0.0001155691 SEABIRD_C_H 1.1253856

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_I -0.0011212705

NAV_MODE 2 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00015718494

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_PROFILE 3.0

HD_A 0.0038000001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 240 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_PITCH 1.75 PITCH_ADJ_DBAND 0 SEABIRD_T_J 2.9521423e-06

AH0_10V 0 D_SAFE 500 PITCH_ADJ_GAIN 0 SIM_PITCH 0

AH0_24V 350 D_SURF 2 PITCH_AD_RATE 160 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_CNV 0.003125763 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 28 STROBE 0

ALTIM_PING_DELTA 5 FERRY_MAX 45 PITCH_MAX 3880 SURFACE_URGENCY 20

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 20

ALTIM_PULSE 2 FG_AHR_24V 0 PITCH_MIN 200 SURFACE_URGENCY_TRY 10

ALTIM_SENSITIVITY 3 FILEMGR 2 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2.8 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0022 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 40 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 6000

APOGEE_PITCH -5 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001155691 TGT_DEFAULT_LON -5500

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -51.110779 T_ABORT 1440

CALL_TRIES 3 HD_C 9.9999997e-06 PROTOCOL 1 T_BOOST 2

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 360

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_GPS 3

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.1 RAFOS_DEVICE 32 T_GPS_ALMANAC 0

COMM_SEQ 0 ID 217 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_YINT -0.1 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 3095 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2375 LOGGERDEVICE3 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2450 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 60

C_VBD 2709 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX 3

DBDW 0 MASS 52199 ROLL_MAX 3790 USE_BATHY -3

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 2

DEVICE1 -1 MAX_BUOY 140 ROLL_MIN 240 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_PORT_OVSHOOT 58 VBD_DBAND 2

DEVICE4 -1 MISSION 3 R_STBD_OVSHOOT 36 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 410 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 241114,131004,6703.927,-5654.146,17,0.8,17,-32.6 SPEED_LIMITS 0.109,0.246

_CALLS 1 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.16 MHEAD_RNG_PITCHd_Wd 181.7,4861,-17.5,-9.167,-20.44,2275

_SM_ANGLEo -69.6 D_GRID 515

GPS2 241114,131710,6703.966,-5654.259,22,0.8,22,-32.6

Post-dive calculations and measurements:

FREEZE 1.34,0.967,-1.788,0,1,0 _24V_AH 13.38,96.741

FINISH 1.3,1.026145 _10V_AH 12.94,0.000

SM_CCo 9302,36.38,0.082,0,0,1281,350.04 FG_AHR_24Vo 0.000

SM_GC 2.05,9.40,0.08,36.38,0.069,0.179,0.082,213,2450,1281,-8.96,-1.30,350.04,0,0,0,0,0,0,14.56,14.62,14.56 FG_AHR_10Vo 0.000

RAFOS_CLK -3 MEM 143108

RAFOS_FIX 6704.776855,-5701.207031,231114,000024,3,72,2.22 DATA_FILE_SIZE 23396,707

IRIDIUM_FIX 6631.12,-5659.96,241114,100835 CAP_FILE_SIZE 113060,0

TT8_MAMPS 0.03745,0.03745 CFSIZE 1024409600,970457088

HUMID 41.45 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.60151 INTR 1,74.91,0x2342fa,0,24

TCM_TEMP 14.30 SOUNDSPEED 1473.3

XPDR_PINGS 0 CURRENT 0.491,312.79,1

ALTIM_TOP_PING 19.6,17.6 GPS 241114,155504,6704.520,-5658.041,36,1.3,36,-32.6

SC_FREEKB 3888832

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 397 128.01 nil 0 0 0.00

Roll_motor 88 179 212.63 nil 0 0 0.00

VBD_pump_during_apogee 292 1460 5717.88 nil 0 0 0.00

VBD_pump_during_surface 36 81 39.84 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 9298 3 411.29

Iridium_during_xfer 235 149 470.10 nil 0 0 0.00

Transponder_ping 0 420 1.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 20 6.39

TT8 1560 24 498.85

LPSleep 6140 2 183.55

TT8_Active 465 23 144.23

TT8_Sampling 1372 42 757.60

TT8_CF8 253 56 183.87

TT8_Kalman 0 0 0.00

Analog_circuits 1307 15 253.78

GPS_charging 0 0 0.00

Compass 1058 5 68.49

RAFOS 0 0 0.00

Transponder 2 30 1.02

Guidance and control:

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.92 -136.3 159 2456 1306 1230 0.0 0.0 0 93 0.00 0.00 -71.75 0.000 16386 0.000 0.000 152 2456 3116 3122 3110 0 0 0 0 0 0 28.83 28.83 28.83

96 -0.92 -136.3 152 2456 3122 3110 4.0 -3.6 7 120 12.20 2.30 -2.80 0.000 18692 0.398 0.097 2777 3776 3265 3287 3244 0 0 0 0 0 0 14.14 14.46 14.78

347 -0.92 -136.3 2777 3776 3290 3243 55.2 -15.5 56 352 0.00 2.20 0.00 0.000 1030 0.000 0.048 2777 2449 3267 3290 3244 0 0 0 0 0 0 28.83 14.55 28.83

677 -0.92 -136.3 2774 2444 3292 3239 103.6 -14.2 71 683 0.00 2.38 0.00 0.000 260 0.000 0.086 2772 3771 3265 3291 3240 0 0 0 0 0 0 28.83 14.47 28.83

855 -0.92 -136.3 2772 3771 3291 3238 130.8 -15.1 106 863 0.00 2.20 0.00 0.000 1030 0.000 0.048 2772 2434 3265 3291 3239 0 0 0 0 0 0 28.83 14.64 28.83

1161 -0.92 -136.3 2772 2434 3291 3238 173.8 -13.9 122 1167 0.00 2.33 0.00 0.000 516 0.000 0.060 2772 1064 3265 3292 3238 0 0 0 0 0 0 28.83 14.56 28.83

1205 -0.92 -136.3 2772 1065 3292 3238 179.8 -14.1 130 1212 0.00 2.35 0.00 0.000 1030 0.000 0.057 2772 2444 3265 3291 3239 0 0 0 0 0 0 28.83 14.57 28.83

1529 -0.92 -136.3 2772 2444 3291 3238 221.8 -12.9 149 1530 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2449 3264 3291 3238 0 0 0 0 0 0 28.83 28.83 28.83

1831 -0.92 -136.3 2772 2444 3291 3238 259.6 -11.9 164 1836 0.00 2.35 0.00 0.000 260 0.000 0.086 2772 3781 3264 3291 3238 0 0 0 0 0 0 28.83 14.50 28.83

1843 -0.92 -136.3 2773 3782 3291 3238 261.2 -11.5 166 1849 0.00 2.17 0.00 0.000 1030 0.000 0.047 2772 2447 3264 3292 3236 0 0 0 0 0 0 28.83 14.69 28.83

2158 -0.92 -136.3 2772 2447 3291 3238 297.7 -11.7 183 2159 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2446 3264 3291 3238 0 0 0 0 0 0 28.83 28.83 28.83

2459 -0.92 -136.3 2772 2446 3293 3238 331.5 -11.5 198 2465 0.00 2.40 0.00 0.000 260 0.000 0.085 2772 3783 3265 3292 3238 0 0 0 0 0 0 28.83 14.51 28.83

2512 -0.92 -136.3 2772 3783 3292 3238 338.3 -12.2 208 2518 0.00 2.17 0.00 0.000 1030 0.000 0.047 2772 2449 3265 3292 3238 0 0 0 0 0 0 28.83 14.69 28.83

2826 -0.92 -136.3 2772 2449 3294 3238 374.2 -11.4 225 2831 0.00 2.38 0.00 0.000 260 0.000 0.084 2772 3782 3266 3294 3239 0 0 0 0 0 0 28.83 14.50 28.83

2859 -0.92 -136.3 2772 3782 3294 3238 378.2 -11.8 231 2864 0.00 2.17 0.00 0.000 1030 0.000 0.047 2772 2449 3265 3293 3238 0 0 0 0 0 0 28.83 14.69 28.83

3172 -0.92 -136.3 2772 2449 3295 3238 413.9 -11.4 248 3173 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2449 3266 3295 3238 0 0 0 0 0 0 28.83 28.83 28.83

3474 -0.92 -136.3 2772 2449 3296 3238 448.1 -11.3 263 3479 0.00 2.38 0.00 0.000 260 0.000 0.084 2772 3784 3267 3296 3238 0 0 0 0 0 0 28.83 14.52 28.83

3507 -0.92 -136.3 2772 3784 3295 3238 452.4 -12.1 269 3512 0.00 2.17 0.00 0.000 1030 0.000 0.047 2772 2449 3267 3296 3238 0 0 0 0 0 0 28.83 14.70 28.83

3820 -0.92 -136.3 2771 2449 3297 3238 486.5 -10.6 286 3826 0.00 2.33 0.00 0.000 516 0.000 0.057 2772 1069 3267 3296 3239 0 0 0 0 0 0 28.83 14.59 28.83

3849 -0.92 -136.3 2771 1068 3297 3238 489.7 -11.1 291 3854 0.00 2.35 0.00 0.000 1030 0.000 0.056 2772 2458 3268 3297 3239 0 0 0 0 0 0 28.83 14.59 28.83

4088 end dive: TARGET_DEPTH_EXCEEDED

state 4088 begin apogee

4094 -0.18 0.0 2772 2388 3297 3238 515.6 -10.8 305 4208 0.93 0.00 107.78 1.460 10246 0.230 0.000 3028 2387 2707 2775 2639 0 0 0 0 0 0 14.25 28.83 13.60

4209 end apogee: CONTROL_FINISHED_OK

state 4209 begin climb

4212 0.92 136.3 3027 2387 2774 2638 519.5 0.0 311 4332 1.10 2.47 108.03 1.432 10756 0.155 0.059 3380 983 2148 2220 2077 0 0 0 0 0 0 14.21 14.03 13.38

4380 0.92 136.3 3380 984 2215 2078 507.6 9.5 344 4386 0.00 2.42 0.00 0.000 1030 0.000 0.050 3380 2378 2146 2215 2078 0 0 0 0 0 0 28.83 14.15 28.83

4698 0.92 136.3 3380 2378 2212 2078 473.0 10.7 362 4700 0.00 0.00 0.00 0.000 6 0.000 0.000 3380 2378 2142 2207 2078 0 0 0 0 0 0 28.83 28.83 28.83

5001 0.92 136.3 3380 2378 2212 2078 442.0 10.4 377 5007 0.00 2.38 0.00 0.000 516 0.000 0.060 3390 987 2145 2212 2078 0 0 0 0 0 0 28.83 14.54 28.83

5111 0.92 136.3 3390 987 2212 2078 430.4 9.9 398 5117 0.00 2.35 0.00 0.000 1030 0.000 0.051 3390 2377 2145 2212 2078 0 0 0 0 0 0 28.83 14.58 28.83

5430 0.92 136.3 3390 2377 2216 2078 396.1 10.7 416 5436 0.00 2.38 0.00 0.000 516 0.000 0.060 3399 982 2145 2213 2077 0 0 0 0 0 0 28.83 14.58 28.83

5478 0.92 136.3 3400 982 2212 2078 390.9 11.2 425 5483 0.00 2.33 0.00 0.000 1030 0.000 0.050 3399 2377 2145 2212 2079 0 0 0 0 0 0 28.83 14.62 28.83

5796 0.92 136.3 3399 2376 2212 2077 356.6 10.6 443 5802 0.00 2.38 0.00 0.000 516 0.000 0.060 3410 986 2145 2212 2078 0 0 0 0 0 0 28.83 14.60 28.83

5841 0.92 136.3 3410 986 2212 2078 351.7 10.7 451 5846 0.00 2.33 0.00 0.000 1030 0.000 0.051 3410 2378 2144 2211 2078 0 0 0 0 0 0 28.83 14.63 28.83

6164 0.92 136.3 3410 2378 2212 2077 314.7 11.5 470 6170 0.00 2.38 0.00 0.000 516 0.000 0.059 3421 978 2145 2212 2078 0 0 0 0 0 0 28.83 14.57 28.83

6197 0.92 136.3 3421 978 2212 2078 310.9 11.1 476 6202 0.00 2.35 0.00 0.000 1030 0.000 0.050 3421 2385 2145 2212 2078 0 0 0 0 0 0 28.83 14.64 28.83

6510 0.92 136.3 3421 2386 2212 2078 273.7 12.4 493 6511 0.00 0.00 0.00 0.000 6 0.000 0.000 3421 2386 2144 2211 2078 0 0 0 0 0 0 28.83 28.83 28.83

6812 0.92 136.3 3421 2386 2212 2078 235.8 12.6 508 6817 0.00 2.38 0.00 0.000 516 0.000 0.060 3433 984 2145 2213 2078 0 0 0 0 0 0 28.83 14.62 28.83

6872 0.92 136.3 3432 983 2212 2078 228.1 12.8 519 6879 0.15 2.33 0.00 0.000 5126 0.231 0.051 3395 2376 2145 2212 2078 0 0 0 0 0 0 14.38 14.63 28.83

7176 0.92 136.3 3395 2376 2211 2078 195.4 10.1 535 7181 0.00 2.38 0.00 0.000 516 0.000 0.059 3406 976 2145 2212 2078 0 0 0 0 0 0 28.83 14.58 28.83

7260 0.92 136.3 3405 977 2212 2078 187.0 9.5 551 7265 0.00 2.35 0.00 0.000 1030 0.000 0.051 3406 2383 2145 2212 2078 0 0 0 0 0 0 28.83 14.63 28.83

7583 0.96 152.7 3406 2383 2212 2078 157.6 8.4 570 7604 0.00 2.40 12.27 0.958 8708 0.000 0.061 3415 986 2085 2152 2019 0 0 0 0 0 0 28.83 14.76 14.09

7653 0.96 152.7 3415 985 2151 2018 151.3 9.4 583 7658 0.00 2.33 0.00 0.000 1030 0.000 0.051 3415 2376 2084 2150 2019 0 0 0 0 0 0 28.83 14.64 28.83

7971 0.96 152.7 3416 2376 2150 2018 121.7 10.0 601 7977 0.00 2.38 0.00 0.000 516 0.000 0.060 3424 985 2084 2150 2019 0 0 0 0 0 0 28.83 14.59 28.83

8008 0.96 152.7 3424 985 2150 2019 117.9 10.3 608 8014 0.00 2.33 0.00 0.000 1030 0.000 0.050 3424 2376 2084 2150 2019 0 0 0 0 0 0 28.83 14.62 28.83

8338 0.96 152.7 3424 2376 2150 2018 83.8 10.0 623 8344 0.00 2.45 0.00 0.000 260 0.000 0.080 3424 3780 2084 2150 2019 0 0 0 0 0 0 28.83 14.54 28.83

8397 0.96 152.7 3424 3780 2149 2019 77.4 10.6 634 8405 0.00 2.30 0.00 0.000 1030 0.000 0.044 3435 2365 2084 2150 2019 0 0 0 0 0 0 28.83 14.68 28.83

8702 0.99 165.1 3435 2365 2150 2019 49.4 8.6 645 8722 0.00 2.33 11.18 0.850 8708 0.000 0.060 3443 995 2032 2097 1967 0 0 0 0 0 0 28.83 14.72 14.14

8839 1.00 168.6 3443 997 2096 1967 37.8 9.0 672 8850 0.10 2.33 2.88 0.539 13318 0.258 0.052 3419 2383 2023 2090 1957 0 0 0 0 0 0 14.42 14.63 13.93

9159 1.22 270.5 3419 2383 2092 1957 14.5 4.6 693 9214 0.17 0.00 50.50 0.116 10758 0.125 0.000 3491 2383 1607 1680 1534 0 0 0 0 0 0 14.65 28.83 14.54

9270 end climb: SURFACE_DEPTH_REACHED

state 9270 begin surface coast

9282 end surface coast: CONTROL_FINISHED_OK

state 9282 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	410	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	58	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	36	XPDR_VALID	1
D_BOOST	25	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.1
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	1	VBD_MIN	500	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	DEVICE1	-1
SURFACE_URGENCY	20	NOCOMM_ACTION	161	C_VBD	2709	DEVICE2	-1
SURFACE_URGENCY_TRY	10	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	20	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE4	-1
T_DIVE	360	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	390	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0022	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	3	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	25	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	97
USE_BATHY	-3	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	2	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	32
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	350	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	200	AH0_10V	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3880	MINV_24V	12	SIM_PITCH	0
MAX_BUOY	140	C_PITCH	3095	MINV_10V	12	SEABIRD_T_G	0.0043902649
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00063436845
GLIDE_SLOPE	40	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_T_I	2.5093383e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_T_J	2.9521423e-06
RHO	1.0275	P_OVSHOOT_WITHG	0.079999998	PRESSURE_YINT	-51.110779	SEABIRD_C_G	-9.69524
MASS	52199	PITCH_GAIN	28	PRESSURE_SLOPE	0.0001155691	SEABIRD_C_H	1.1253856
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0011212705
NAV_MODE	2	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00015718494
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_PROFILE	3.0
HD_A	0.0038000001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	240	ALTIM_TOP_PING_RANGE	20

GPS1	241114,131004,6703.927,-5654.146,17,0.8,17,-32.6	SPEED_LIMITS	0.109,0.246
_CALLS	1	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.16	MHEAD_RNG_PITCHd_Wd	181.7,4861,-17.5,-9.167,-20.44,2275
_SM_ANGLEo	-69.6	D_GRID	515
GPS2	241114,131710,6703.966,-5654.259,22,0.8,22,-32.6

FREEZE	1.34,0.967,-1.788,0,1,0	_24V_AH	13.38,96.741
FINISH	1.3,1.026145	_10V_AH	12.94,0.000
SM_CCo	9302,36.38,0.082,0,0,1281,350.04	FG_AHR_24Vo	0.000
SM_GC	2.05,9.40,0.08,36.38,0.069,0.179,0.082,213,2450,1281,-8.96,-1.30,350.04,0,0,0,0,0,0,14.56,14.62,14.56	FG_AHR_10Vo	0.000
RAFOS_CLK	-3	MEM	143108
RAFOS_FIX	6704.776855,-5701.207031,231114,000024,3,72,2.22	DATA_FILE_SIZE	23396,707
IRIDIUM_FIX	6631.12,-5659.96,241114,100835	CAP_FILE_SIZE	113060,0
TT8_MAMPS	0.03745,0.03745	CFSIZE	1024409600,970457088
HUMID	41.45	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.60151	INTR	1,74.91,0x2342fa,0,24
TCM_TEMP	14.30	SOUNDSPEED	1473.3
XPDR_PINGS	0	CURRENT	0.491,312.79,1
ALTIM_TOP_PING	19.6,17.6	GPS	241114,155504,6704.520,-5658.041,36,1.3,36,-32.6
SC_FREEKB	3888832

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	397	128.01	nil	0	0	0.00
Roll_motor	88	179	212.63	nil	0	0	0.00
VBD_pump_during_apogee	292	1460	5717.88	nil	0	0	0.00
VBD_pump_during_surface	36	81	39.84	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	9298	3	411.29
Iridium_during_xfer	235	149	470.10	nil	0	0	0.00
Transponder_ping	0	420	1.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	20	6.39
TT8	1560	24	498.85
LPSleep	6140	2	183.55
TT8_Active	465	23	144.23
TT8_Sampling	1372	42	757.60
TT8_CF8	253	56	183.87
TT8_Kalman	0	0	0.00
Analog_circuits	1307	15	253.78
GPS_charging	0	0	0.00
Compass	1058	5	68.49
RAFOS	0	0	0.00
Transponder	2	30	1.02

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.92	-136.3	159	2456	1306	1230	0.0	0.0	0	93	0.00	0.00	-71.75	0.000	16386	0.000	0.000	152	2456	3116	3122	3110	0	0	0	0	0	0	28.83	28.83	28.83
96	-0.92	-136.3	152	2456	3122	3110	4.0	-3.6	7	120	12.20	2.30	-2.80	0.000	18692	0.398	0.097	2777	3776	3265	3287	3244	0	0	0	0	0	0	14.14	14.46	14.78
347	-0.92	-136.3	2777	3776	3290	3243	55.2	-15.5	56	352	0.00	2.20	0.00	0.000	1030	0.000	0.048	2777	2449	3267	3290	3244	0	0	0	0	0	0	28.83	14.55	28.83
677	-0.92	-136.3	2774	2444	3292	3239	103.6	-14.2	71	683	0.00	2.38	0.00	0.000	260	0.000	0.086	2772	3771	3265	3291	3240	0	0	0	0	0	0	28.83	14.47	28.83
855	-0.92	-136.3	2772	3771	3291	3238	130.8	-15.1	106	863	0.00	2.20	0.00	0.000	1030	0.000	0.048	2772	2434	3265	3291	3239	0	0	0	0	0	0	28.83	14.64	28.83
1161	-0.92	-136.3	2772	2434	3291	3238	173.8	-13.9	122	1167	0.00	2.33	0.00	0.000	516	0.000	0.060	2772	1064	3265	3292	3238	0	0	0	0	0	0	28.83	14.56	28.83
1205	-0.92	-136.3	2772	1065	3292	3238	179.8	-14.1	130	1212	0.00	2.35	0.00	0.000	1030	0.000	0.057	2772	2444	3265	3291	3239	0	0	0	0	0	0	28.83	14.57	28.83
1529	-0.92	-136.3	2772	2444	3291	3238	221.8	-12.9	149	1530	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2449	3264	3291	3238	0	0	0	0	0	0	28.83	28.83	28.83
1831	-0.92	-136.3	2772	2444	3291	3238	259.6	-11.9	164	1836	0.00	2.35	0.00	0.000	260	0.000	0.086	2772	3781	3264	3291	3238	0	0	0	0	0	0	28.83	14.50	28.83
1843	-0.92	-136.3	2773	3782	3291	3238	261.2	-11.5	166	1849	0.00	2.17	0.00	0.000	1030	0.000	0.047	2772	2447	3264	3292	3236	0	0	0	0	0	0	28.83	14.69	28.83
2158	-0.92	-136.3	2772	2447	3291	3238	297.7	-11.7	183	2159	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2446	3264	3291	3238	0	0	0	0	0	0	28.83	28.83	28.83
2459	-0.92	-136.3	2772	2446	3293	3238	331.5	-11.5	198	2465	0.00	2.40	0.00	0.000	260	0.000	0.085	2772	3783	3265	3292	3238	0	0	0	0	0	0	28.83	14.51	28.83
2512	-0.92	-136.3	2772	3783	3292	3238	338.3	-12.2	208	2518	0.00	2.17	0.00	0.000	1030	0.000	0.047	2772	2449	3265	3292	3238	0	0	0	0	0	0	28.83	14.69	28.83
2826	-0.92	-136.3	2772	2449	3294	3238	374.2	-11.4	225	2831	0.00	2.38	0.00	0.000	260	0.000	0.084	2772	3782	3266	3294	3239	0	0	0	0	0	0	28.83	14.50	28.83
2859	-0.92	-136.3	2772	3782	3294	3238	378.2	-11.8	231	2864	0.00	2.17	0.00	0.000	1030	0.000	0.047	2772	2449	3265	3293	3238	0	0	0	0	0	0	28.83	14.69	28.83
3172	-0.92	-136.3	2772	2449	3295	3238	413.9	-11.4	248	3173	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2449	3266	3295	3238	0	0	0	0	0	0	28.83	28.83	28.83
3474	-0.92	-136.3	2772	2449	3296	3238	448.1	-11.3	263	3479	0.00	2.38	0.00	0.000	260	0.000	0.084	2772	3784	3267	3296	3238	0	0	0	0	0	0	28.83	14.52	28.83
3507	-0.92	-136.3	2772	3784	3295	3238	452.4	-12.1	269	3512	0.00	2.17	0.00	0.000	1030	0.000	0.047	2772	2449	3267	3296	3238	0	0	0	0	0	0	28.83	14.70	28.83
3820	-0.92	-136.3	2771	2449	3297	3238	486.5	-10.6	286	3826	0.00	2.33	0.00	0.000	516	0.000	0.057	2772	1069	3267	3296	3239	0	0	0	0	0	0	28.83	14.59	28.83
3849	-0.92	-136.3	2771	1068	3297	3238	489.7	-11.1	291	3854	0.00	2.35	0.00	0.000	1030	0.000	0.056	2772	2458	3268	3297	3239	0	0	0	0	0	0	28.83	14.59	28.83
4088	end dive: TARGET_DEPTH_EXCEEDED
state	4088	begin apogee
4094	-0.18	0.0	2772	2388	3297	3238	515.6	-10.8	305	4208	0.93	0.00	107.78	1.460	10246	0.230	0.000	3028	2387	2707	2775	2639	0	0	0	0	0	0	14.25	28.83	13.60
4209	end apogee: CONTROL_FINISHED_OK
state	4209	begin climb
4212	0.92	136.3	3027	2387	2774	2638	519.5	0.0	311	4332	1.10	2.47	108.03	1.432	10756	0.155	0.059	3380	983	2148	2220	2077	0	0	0	0	0	0	14.21	14.03	13.38
4380	0.92	136.3	3380	984	2215	2078	507.6	9.5	344	4386	0.00	2.42	0.00	0.000	1030	0.000	0.050	3380	2378	2146	2215	2078	0	0	0	0	0	0	28.83	14.15	28.83
4698	0.92	136.3	3380	2378	2212	2078	473.0	10.7	362	4700	0.00	0.00	0.00	0.000	6	0.000	0.000	3380	2378	2142	2207	2078	0	0	0	0	0	0	28.83	28.83	28.83
5001	0.92	136.3	3380	2378	2212	2078	442.0	10.4	377	5007	0.00	2.38	0.00	0.000	516	0.000	0.060	3390	987	2145	2212	2078	0	0	0	0	0	0	28.83	14.54	28.83
5111	0.92	136.3	3390	987	2212	2078	430.4	9.9	398	5117	0.00	2.35	0.00	0.000	1030	0.000	0.051	3390	2377	2145	2212	2078	0	0	0	0	0	0	28.83	14.58	28.83
5430	0.92	136.3	3390	2377	2216	2078	396.1	10.7	416	5436	0.00	2.38	0.00	0.000	516	0.000	0.060	3399	982	2145	2213	2077	0	0	0	0	0	0	28.83	14.58	28.83
5478	0.92	136.3	3400	982	2212	2078	390.9	11.2	425	5483	0.00	2.33	0.00	0.000	1030	0.000	0.050	3399	2377	2145	2212	2079	0	0	0	0	0	0	28.83	14.62	28.83
5796	0.92	136.3	3399	2376	2212	2077	356.6	10.6	443	5802	0.00	2.38	0.00	0.000	516	0.000	0.060	3410	986	2145	2212	2078	0	0	0	0	0	0	28.83	14.60	28.83
5841	0.92	136.3	3410	986	2212	2078	351.7	10.7	451	5846	0.00	2.33	0.00	0.000	1030	0.000	0.051	3410	2378	2144	2211	2078	0	0	0	0	0	0	28.83	14.63	28.83
6164	0.92	136.3	3410	2378	2212	2077	314.7	11.5	470	6170	0.00	2.38	0.00	0.000	516	0.000	0.059	3421	978	2145	2212	2078	0	0	0	0	0	0	28.83	14.57	28.83
6197	0.92	136.3	3421	978	2212	2078	310.9	11.1	476	6202	0.00	2.35	0.00	0.000	1030	0.000	0.050	3421	2385	2145	2212	2078	0	0	0	0	0	0	28.83	14.64	28.83
6510	0.92	136.3	3421	2386	2212	2078	273.7	12.4	493	6511	0.00	0.00	0.00	0.000	6	0.000	0.000	3421	2386	2144	2211	2078	0	0	0	0	0	0	28.83	28.83	28.83
6812	0.92	136.3	3421	2386	2212	2078	235.8	12.6	508	6817	0.00	2.38	0.00	0.000	516	0.000	0.060	3433	984	2145	2213	2078	0	0	0	0	0	0	28.83	14.62	28.83
6872	0.92	136.3	3432	983	2212	2078	228.1	12.8	519	6879	0.15	2.33	0.00	0.000	5126	0.231	0.051	3395	2376	2145	2212	2078	0	0	0	0	0	0	14.38	14.63	28.83
7176	0.92	136.3	3395	2376	2211	2078	195.4	10.1	535	7181	0.00	2.38	0.00	0.000	516	0.000	0.059	3406	976	2145	2212	2078	0	0	0	0	0	0	28.83	14.58	28.83
7260	0.92	136.3	3405	977	2212	2078	187.0	9.5	551	7265	0.00	2.35	0.00	0.000	1030	0.000	0.051	3406	2383	2145	2212	2078	0	0	0	0	0	0	28.83	14.63	28.83
7583	0.96	152.7	3406	2383	2212	2078	157.6	8.4	570	7604	0.00	2.40	12.27	0.958	8708	0.000	0.061	3415	986	2085	2152	2019	0	0	0	0	0	0	28.83	14.76	14.09
7653	0.96	152.7	3415	985	2151	2018	151.3	9.4	583	7658	0.00	2.33	0.00	0.000	1030	0.000	0.051	3415	2376	2084	2150	2019	0	0	0	0	0	0	28.83	14.64	28.83
7971	0.96	152.7	3416	2376	2150	2018	121.7	10.0	601	7977	0.00	2.38	0.00	0.000	516	0.000	0.060	3424	985	2084	2150	2019	0	0	0	0	0	0	28.83	14.59	28.83
8008	0.96	152.7	3424	985	2150	2019	117.9	10.3	608	8014	0.00	2.33	0.00	0.000	1030	0.000	0.050	3424	2376	2084	2150	2019	0	0	0	0	0	0	28.83	14.62	28.83
8338	0.96	152.7	3424	2376	2150	2018	83.8	10.0	623	8344	0.00	2.45	0.00	0.000	260	0.000	0.080	3424	3780	2084	2150	2019	0	0	0	0	0	0	28.83	14.54	28.83
8397	0.96	152.7	3424	3780	2149	2019	77.4	10.6	634	8405	0.00	2.30	0.00	0.000	1030	0.000	0.044	3435	2365	2084	2150	2019	0	0	0	0	0	0	28.83	14.68	28.83
8702	0.99	165.1	3435	2365	2150	2019	49.4	8.6	645	8722	0.00	2.33	11.18	0.850	8708	0.000	0.060	3443	995	2032	2097	1967	0	0	0	0	0	0	28.83	14.72	14.14
8839	1.00	168.6	3443	997	2096	1967	37.8	9.0	672	8850	0.10	2.33	2.88	0.539	13318	0.258	0.052	3419	2383	2023	2090	1957	0	0	0	0	0	0	14.42	14.63	13.93
9159	1.22	270.5	3419	2383	2092	1957	14.5	4.6	693	9214	0.17	0.00	50.50	0.116	10758	0.125	0.000	3491	2383	1607	1680	1534	0	0	0	0	0	0	14.65	28.83	14.54
9270	end climb: SURFACE_DEPTH_REACHED
state	9270	begin surface coast
9282	end surface coast: CONTROL_FINISHED_OK
state	9282	begin surface