Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 156 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 ESCAPE_HEADING 180 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 156 FIX_MISSING_TIMEOUT 4 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 7100 ROLL_TIMEOUT 15 XPDR_VALID 2

D_SURF 2 TGT_DEFAULT_LON -14430 R_PORT_OVSHOOT 33 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 14 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 669.66901 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.6

D_ABORT 800 N_FILEKB 8 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 2 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 9 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 1.75 N_NOCOMM 6 C_VBD 3230 DEVICE4 -1

D_SAFE 500 NOCOMM_ACTION 161 VBD_DBAND 2 DEVICE5 -1

D_CALL 4.5 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 5 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 1

SURFACE_URGENCY_TRY 10 CALL_TRIES 3 PITCH_VBD_SHIFT 0.001 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 20 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 215 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 250 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 2 PHONE_DEVICE 49

T_NO_W 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -21791.461 PITCH_W_GAIN 4 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 1 RAFOS_PEAK_OFFSET 1 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.079999998 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044001359

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00063958467

T_WATCHDOG 10 PITCH_MIN 200 MINV_10V 11 SEABIRD_T_I 2.6420161e-05

RELAUNCH 1 PITCH_MAX 3900 FG_AHR_10V 0 SEABIRD_T_J 3.2747387e-06

APOGEE_PITCH -5 C_PITCH 2435 FG_AHR_24V 0 SEABIRD_C_G -9.7531748

MAX_BUOY 180 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1147131

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -64.963387 SEABIRD_C_I -0.0015239087

GLIDE_SLOPE 40 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001159754 SEABIRD_C_J 0.00019379995

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 35.5 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54269 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 160 COMPASS_USE 4 TM_RECORDABOVE 2000.0

NAV_MODE 0 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HD_A 0.0031999999 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3771 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 2.1999999e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2360 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 750 PITCH_GAIN 35.5 SURFACE_URGENCY_FORCE 20

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3900 SURFACE_URGENCY_TRY 10

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 200 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 7100

ALTIM_PING_DEPTH 0 FILEMGR 2 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -14430

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 4 PITCH_W_GAIN 4 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 40 PRESSURE_SLOPE 0.0001159754 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -64.963387 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0031999999 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 2.1999999e-06 P_OVSHOOT_WITHG 0 T_ABORT 1440

CALL_NDIVES 1 HEADING -1 RAFOS_CORR_THRESH 60 T_BOOST 4

CALL_TRIES 3 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 215

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.079999998 RAFOS_PEAK_OFFSET 1 T_GPS 3

CAPUPLOAD 0 ID 199 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -21791.461

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_MISSION 250

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 360

COMPASS_USE 4 LOGGERDEVICE2 71 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_DEG 40 T_TURN 225

C_PITCH 2435 LOGGERDEVICE4 -1 ROLL_MAX 3771 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 1 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2360 MASS 54269 ROLL_MIN 218 UNCOM_BLEED 60

C_VBD 3230 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 180 R_PORT_OVSHOOT 33 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 14 USE_ICE 1

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 5 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 0 SEABIRD_C_G -9.7531748 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1147131 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0015239087 VBD_MIN 500

DIVE 156 N_FILEKB 8 SEABIRD_C_J 0.00019379995 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 800 N_GPS -20 SEABIRD_T_G 0.0044001359 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00063958467 VBD_TIMEOUT 720

D_CALL 4.5 N_NOSURFACE 0 SEABIRD_T_I 2.6420161e-05 W_ADJ_DBAND 2

D_FINISH 9 PHONE_DEVICE 49 SEABIRD_T_J 3.2747387e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 2 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0 SM_CC 669.66901

D_PITCH 1.75 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 500 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 170814,084948,7242.043,-14556.391,39,0.9,59,22.3 SPEED_LIMITS 0.139,0.275

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7305.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.19 MHEAD_RNG_PITCHd_Wd 342.4,42547,-19.5,-11.628,-22.92,2318

_SM_ANGLEo -71.3 D_GRID 1000

GPS2 170814,085630,7242.104,-14556.462,5,0.8,25,22.3

Post-dive calculations and measurements:

FREEZE 1.30,2.999,-1.365,2,1,0 _24V_AH 12.30,113.556

FINISH 1.3,1.019999 _10V_AH 12.56,0.000

SM_CCo 12133,0.00,0.000,0,0,500,670.16 FG_AHR_24Vo 0.000

SM_GC 2.50,8.20,0.43,0.00,0.083,0.100,0.000,199,2366,500,-6.94,1.10,670.16,0,0,0,0,0,0,14.33,14.33,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 54 MEM 268844

RAFOS_FIX 7210.390625,-14553.904297,150814,000043,2,255,0.00 DATA_FILE_SIZE 30044,828

IRIDIUM_FIX 7207.11,-14548.49,170814,052506 CAP_FILE_SIZE 126061,0

TT8_MAMPS 0.087633,0.087633 CFSIZE 2097872896,2053373952

HUMID 50.00 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0

INTERNAL_PRESSURE 8.4655 INTR 0,12418.28,0x2378b6,7,5

TCM_TEMP 11.80 SOUNDSPEED 1450.0

XPDR_PINGS 1 GPS 170814,122024,7243.855,-14555.901,31,0.8,51,22.3

SC_FREEKB 3999272

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 472 126.13 nil 0 0 0.00

Roll_motor 39 141 68.67 nil 0 0 0.00

VBD_pump_during_apogee 663 2067 16866.59 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 12095 11 1762.61

Iridium_during_xfer 233 171 491.52 TMICL 0 0 0.00

Transponder_ping 0 420 1.29 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.11

TT8 0 0 0.00

LPSleep 9770 2 283.48

TT8_Active 695 10 95.77

TT8_Sampling 1922 29 717.30

TT8_CF8 144 36 66.07

TT8_Kalman 0 0 0.00

Analog_circuits 1607 10 201.94

GPS_charging 0 0 0.00

Compass 1231 5 77.36

RAFOS 1496 48 901.91

Transponder 0 5 0.03

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.72 -175.1 165 2354 523 472 0.0 0.0 0 79 0.00 0.00 -62.05 0.000 16386 0.000 0.000 161 2354 2057 2068 2046 0 0 0 0 0 0 28.83 28.83 28.83

81 -0.72 -175.1 162 2354 2069 2048 3.8 -3.2 6 135 11.18 2.58 -35.95 0.000 18692 0.472 0.142 2181 3771 3944 4000 3889 0 0 0 0 0 0 14.00 14.32 14.57

359 -0.72 -175.1 2181 3773 4006 3895 89.8 -28.6 62 364 0.00 2.45 0.00 0.000 1030 0.000 0.077 2181 2367 3951 4004 3899 0 0 0 0 0 0 28.83 14.40 28.83

669 -0.72 -175.1 2182 2362 4010 3896 156.9 -20.2 94 674 0.00 2.53 0.00 0.000 260 0.000 0.119 2170 3773 3949 4004 3895 0 0 0 0 0 0 28.83 14.45 28.83

834 -0.72 -175.1 2169 3774 4008 3896 192.0 -20.3 127 841 0.10 2.45 0.00 0.000 3078 0.292 0.078 2193 2356 3948 3999 3897 0 0 0 0 0 0 14.32 14.52 28.83

1139 -0.72 -175.1 2195 2356 4004 3896 241.2 -14.9 158 1140 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2358 3949 4004 3895 0 0 0 0 0 0 28.83 28.83 28.83

1440 -0.72 -175.1 2195 2356 4004 3896 284.4 -14.1 172 1441 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2355 3949 4004 3895 0 0 0 0 0 0 28.83 28.83 28.83

1739 -0.72 -175.1 2195 2356 4003 3896 325.4 -13.4 182 1740 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 2355 3949 4004 3894 0 0 0 0 0 0 28.83 28.83 28.83

2039 -0.72 -175.1 2195 2356 4004 3896 364.3 -12.8 192 2040 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2355 3949 4004 3895 0 0 0 0 0 0 28.83 28.83 28.83

2339 -0.72 -175.1 2193 2356 4005 3895 402.4 -12.8 202 2340 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 2355 3949 4004 3895 0 0 0 0 0 0 28.83 28.83 28.83

2639 -0.72 -175.1 2195 2356 4004 3895 440.6 -12.7 212 2640 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2355 3949 4004 3895 0 0 0 0 0 0 28.83 28.83 28.83

2939 -0.72 -175.1 2194 2356 4004 3895 477.7 -12.3 222 2940 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2356 3952 4003 3901 0 0 0 0 0 0 28.83 28.83 28.83

3239 -0.72 -175.1 2193 2355 4006 3896 514.3 -12.1 232 3240 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2354 3949 4004 3895 0 0 0 0 0 0 28.83 28.83 28.83

3539 -0.72 -175.1 2193 2356 4004 3895 550.5 -12.0 242 3540 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2355 3947 4000 3894 0 0 0 0 0 0 28.83 28.83 28.83

3839 -0.72 -175.1 2195 2355 4003 3895 587.2 -12.3 252 3840 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2356 3949 4004 3895 0 0 0 0 0 0 28.83 28.83 28.83

4139 -0.72 -175.1 2196 2356 4003 3895 623.7 -12.1 262 4140 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2355 3950 4004 3896 0 0 0 0 0 0 28.83 28.83 28.83

4439 -0.72 -175.1 2195 2356 4003 3895 659.5 -11.8 272 4440 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2354 3951 4004 3899 0 0 0 0 0 0 28.83 28.83 28.83

4739 -0.72 -175.1 2195 2356 4004 3895 695.1 -11.9 282 4740 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2359 3949 4004 3895 0 0 0 0 0 0 28.83 28.83 28.83

5039 -0.72 -175.1 2195 2356 4004 3895 730.3 -11.7 292 5040 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2355 3947 4000 3894 0 0 0 0 0 0 28.83 28.83 28.83

5217 end dive: TARGET_DEPTH_EXCEEDED

state 5217 begin apogee

5222 -0.14 0.0 2193 2609 4005 3895 751.2 -11.6 298 5447 0.73 0.00 222.93 1.783 10246 0.263 0.000 2381 2608 3231 3283 3180 0 0 0 0 0 0 14.51 28.83 12.96

5448 end apogee: CONTROL_FINISHED_OK

state 5448 begin climb

5450 0.72 175.1 2382 2608 3277 3174 759.0 0.0 305 5616 0.98 2.33 157.00 2.067 10500 0.159 0.117 2665 3763 2507 2570 2445 0 0 0 0 0 0 13.57 12.97 12.30

5715 0.72 175.1 2659 3764 2566 2433 735.0 15.2 362 5720 0.00 2.12 0.00 0.000 1030 0.000 0.073 2668 2601 2499 2564 2435 0 0 1 0 0 0 28.83 13.53 28.83

6031 0.72 175.1 2668 2602 2566 2434 692.0 13.7 375 6032 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2601 2500 2567 2433 0 0 0 0 0 0 28.83 28.83 28.83

6330 0.72 175.1 2670 2601 2563 2433 651.7 13.4 385 6331 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2601 2499 2564 2434 0 0 0 0 0 0 28.83 28.83 28.83

6630 0.72 175.1 2668 2601 2566 2433 611.0 13.5 395 6631 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2601 2498 2564 2432 0 0 0 0 0 0 28.83 28.83 28.83

6930 0.72 175.1 2668 2601 2566 2432 571.3 13.2 405 6931 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2601 2500 2569 2431 0 0 0 0 0 0 28.83 28.83 28.83

7230 0.72 175.1 2668 2601 2566 2432 532.2 13.1 415 7231 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2599 2497 2564 2431 0 0 0 0 0 0 28.83 28.83 28.83

7530 0.72 175.1 2668 2601 2566 2432 492.9 13.1 425 7531 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2600 2495 2559 2431 0 0 0 0 0 0 28.83 28.83 28.83

7830 0.72 175.1 2670 2601 2566 2432 453.6 13.0 435 7831 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2597 2497 2564 2431 0 0 0 0 0 0 28.83 28.83 28.83

8130 0.72 175.1 2670 2601 2564 2431 414.9 12.8 445 8131 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2602 2497 2564 2431 0 0 0 0 0 0 28.83 28.83 28.83

8430 0.72 175.1 2668 2601 2566 2432 376.6 12.8 455 8431 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2600 2498 2565 2431 0 0 0 0 0 0 28.83 28.83 28.83

8730 0.72 175.1 2670 2601 2564 2432 338.6 12.5 465 8731 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2600 2497 2564 2431 0 0 0 0 0 0 28.83 28.83 28.83

9030 0.72 175.1 2668 2601 2566 2432 301.5 12.2 475 9031 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2601 2496 2561 2431 0 0 0 0 0 0 28.83 28.83 28.83

9330 0.72 175.1 2668 2601 2567 2432 265.6 11.6 485 9336 0.00 2.42 0.00 0.000 516 0.000 0.086 2679 1195 2497 2564 2431 0 0 0 0 0 0 28.83 14.64 28.83

9380 0.76 175.1 2680 1195 2563 2431 260.1 10.8 495 9386 0.00 2.50 0.00 0.000 1030 0.000 0.099 2681 2600 2497 2567 2427 0 0 0 0 0 0 28.83 14.61 28.83

9690 0.82 175.1 2679 2601 2566 2432 225.3 10.1 521 9691 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2599 2499 2565 2433 0 0 0 0 0 0 28.83 28.83 28.83

9990 0.88 231.4 2679 2601 2566 2432 196.6 9.1 551 10043 0.12 2.53 46.78 1.414 10756 0.155 0.085 2732 1194 2278 2345 2211 0 0 0 0 0 0 14.63 14.31 13.71

10087 0.88 231.4 2732 1195 2353 2198 185.6 12.3 570 10094 0.00 2.58 0.00 0.000 1030 0.000 0.099 2732 2606 2269 2338 2200 0 0 0 0 0 0 28.83 14.28 28.83

10393 0.91 231.4 2732 2606 2340 2199 149.1 10.9 601 10398 0.00 2.45 0.00 0.000 516 0.000 0.086 2742 1189 2267 2338 2197 0 0 0 0 0 0 28.83 14.42 28.83

10479 0.96 286.3 2743 1189 2338 2199 141.0 9.2 618 10534 0.00 2.50 47.10 1.377 9222 0.000 0.099 2738 2604 2052 2132 1972 0 0 0 0 0 0 28.83 14.45 13.59

10832 0.96 286.3 2742 2604 2128 1955 97.3 12.0 659 10838 0.00 2.12 0.00 0.000 260 0.000 0.124 2742 3769 2040 2126 1954 0 0 0 0 0 0 28.83 14.28 28.83

10963 0.96 286.3 2743 3766 2126 1954 80.6 11.7 682 10969 0.00 2.03 0.00 0.000 1030 0.000 0.079 2751 2600 2039 2126 1953 0 0 0 0 0 0 28.83 14.35 28.83

11268 1.10 425.9 2752 2600 2126 1953 57.2 5.4 713 11340 0.12 0.00 66.90 0.338 10502 0.158 0.000 2792 2599 1493 1585 1402 0 0 0 0 0 0 14.42 28.83 14.11

11638 1.16 481.8 2792 2600 1596 1412 16.5 9.1 751 11674 0.00 2.47 28.92 0.230 8964 0.000 0.084 2804 1193 1265 1357 1173 0 0 0 0 0 0 28.83 14.31 14.23

11899 1.45 772.5 2803 1194 1368 1181 13.3 -1.3 802 12004 0.30 2.50 93.78 0.215 11270 0.100 0.099 2911 2601 496 523 469 0 0 0 0 0 0 14.42 14.37 14.16

12047 end climb: SURFACE_DEPTH_REACHED

state 12047 begin surface coast

12057 end surface coast: CONTROL_FINISHED_OK

state 12057 begin surface

ID	199	ESCAPE_HEADING	180	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	156	FIX_MISSING_TIMEOUT	4	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	7100	ROLL_TIMEOUT	15	XPDR_VALID	2
D_SURF	2	TGT_DEFAULT_LON	-14430	R_PORT_OVSHOOT	33	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	14	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	669.66901	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.6
D_ABORT	800	N_FILEKB	8	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	2	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	9	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	1.75	N_NOCOMM	6	C_VBD	3230	DEVICE4	-1
D_SAFE	500	NOCOMM_ACTION	161	VBD_DBAND	2	DEVICE5	-1
D_CALL	4.5	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	5	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	1
SURFACE_URGENCY_TRY	10	CALL_TRIES	3	PITCH_VBD_SHIFT	0.001	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	20	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	215	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	250	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	2	PHONE_DEVICE	49
T_NO_W	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-21791.461	PITCH_W_GAIN	4	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	1	RAFOS_PEAK_OFFSET	1	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.079999998	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044001359
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00063958467
T_WATCHDOG	10	PITCH_MIN	200	MINV_10V	11	SEABIRD_T_I	2.6420161e-05
RELAUNCH	1	PITCH_MAX	3900	FG_AHR_10V	0	SEABIRD_T_J	3.2747387e-06
APOGEE_PITCH	-5	C_PITCH	2435	FG_AHR_24V	0	SEABIRD_C_G	-9.7531748
MAX_BUOY	180	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1147131
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-64.963387	SEABIRD_C_I	-0.0015239087
GLIDE_SLOPE	40	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001159754	SEABIRD_C_J	0.00019379995
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	35.5	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54269	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	160	COMPASS_USE	4	TM_RECORDABOVE	2000.0
NAV_MODE	0	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HD_A	0.0031999999	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3771	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	2.1999999e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2360	ALTIM_PING_DELTA	5

GPS1	170814,084948,7242.043,-14556.391,39,0.9,59,22.3	SPEED_LIMITS	0.139,0.275
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7305.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.19	MHEAD_RNG_PITCHd_Wd	342.4,42547,-19.5,-11.628,-22.92,2318
_SM_ANGLEo	-71.3	D_GRID	1000
GPS2	170814,085630,7242.104,-14556.462,5,0.8,25,22.3

FREEZE	1.30,2.999,-1.365,2,1,0	_24V_AH	12.30,113.556
FINISH	1.3,1.019999	_10V_AH	12.56,0.000
SM_CCo	12133,0.00,0.000,0,0,500,670.16	FG_AHR_24Vo	0.000
SM_GC	2.50,8.20,0.43,0.00,0.083,0.100,0.000,199,2366,500,-6.94,1.10,670.16,0,0,0,0,0,0,14.33,14.33,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	54	MEM	268844
RAFOS_FIX	7210.390625,-14553.904297,150814,000043,2,255,0.00	DATA_FILE_SIZE	30044,828
IRIDIUM_FIX	7207.11,-14548.49,170814,052506	CAP_FILE_SIZE	126061,0
TT8_MAMPS	0.087633,0.087633	CFSIZE	2097872896,2053373952
HUMID	50.00	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
INTERNAL_PRESSURE	8.4655	INTR	0,12418.28,0x2378b6,7,5
TCM_TEMP	11.80	SOUNDSPEED	1450.0
XPDR_PINGS	1	GPS	170814,122024,7243.855,-14555.901,31,0.8,51,22.3
SC_FREEKB	3999272

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	472	126.13	nil	0	0	0.00
Roll_motor	39	141	68.67	nil	0	0	0.00
VBD_pump_during_apogee	663	2067	16866.59	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	12095	11	1762.61
Iridium_during_xfer	233	171	491.52	TMICL	0	0	0.00
Transponder_ping	0	420	1.29	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.11
TT8	0	0	0.00
LPSleep	9770	2	283.48
TT8_Active	695	10	95.77
TT8_Sampling	1922	29	717.30
TT8_CF8	144	36	66.07
TT8_Kalman	0	0	0.00
Analog_circuits	1607	10	201.94
GPS_charging	0	0	0.00
Compass	1231	5	77.36
RAFOS	1496	48	901.91
Transponder	0	5	0.03

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.72	-175.1	165	2354	523	472	0.0	0.0	0	79	0.00	0.00	-62.05	0.000	16386	0.000	0.000	161	2354	2057	2068	2046	0	0	0	0	0	0	28.83	28.83	28.83
81	-0.72	-175.1	162	2354	2069	2048	3.8	-3.2	6	135	11.18	2.58	-35.95	0.000	18692	0.472	0.142	2181	3771	3944	4000	3889	0	0	0	0	0	0	14.00	14.32	14.57
359	-0.72	-175.1	2181	3773	4006	3895	89.8	-28.6	62	364	0.00	2.45	0.00	0.000	1030	0.000	0.077	2181	2367	3951	4004	3899	0	0	0	0	0	0	28.83	14.40	28.83
669	-0.72	-175.1	2182	2362	4010	3896	156.9	-20.2	94	674	0.00	2.53	0.00	0.000	260	0.000	0.119	2170	3773	3949	4004	3895	0	0	0	0	0	0	28.83	14.45	28.83
834	-0.72	-175.1	2169	3774	4008	3896	192.0	-20.3	127	841	0.10	2.45	0.00	0.000	3078	0.292	0.078	2193	2356	3948	3999	3897	0	0	0	0	0	0	14.32	14.52	28.83
1139	-0.72	-175.1	2195	2356	4004	3896	241.2	-14.9	158	1140	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2358	3949	4004	3895	0	0	0	0	0	0	28.83	28.83	28.83
1440	-0.72	-175.1	2195	2356	4004	3896	284.4	-14.1	172	1441	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2355	3949	4004	3895	0	0	0	0	0	0	28.83	28.83	28.83
1739	-0.72	-175.1	2195	2356	4003	3896	325.4	-13.4	182	1740	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	2355	3949	4004	3894	0	0	0	0	0	0	28.83	28.83	28.83
2039	-0.72	-175.1	2195	2356	4004	3896	364.3	-12.8	192	2040	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2355	3949	4004	3895	0	0	0	0	0	0	28.83	28.83	28.83
2339	-0.72	-175.1	2193	2356	4005	3895	402.4	-12.8	202	2340	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	2355	3949	4004	3895	0	0	0	0	0	0	28.83	28.83	28.83
2639	-0.72	-175.1	2195	2356	4004	3895	440.6	-12.7	212	2640	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2355	3949	4004	3895	0	0	0	0	0	0	28.83	28.83	28.83
2939	-0.72	-175.1	2194	2356	4004	3895	477.7	-12.3	222	2940	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2356	3952	4003	3901	0	0	0	0	0	0	28.83	28.83	28.83
3239	-0.72	-175.1	2193	2355	4006	3896	514.3	-12.1	232	3240	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2354	3949	4004	3895	0	0	0	0	0	0	28.83	28.83	28.83
3539	-0.72	-175.1	2193	2356	4004	3895	550.5	-12.0	242	3540	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2355	3947	4000	3894	0	0	0	0	0	0	28.83	28.83	28.83
3839	-0.72	-175.1	2195	2355	4003	3895	587.2	-12.3	252	3840	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2356	3949	4004	3895	0	0	0	0	0	0	28.83	28.83	28.83
4139	-0.72	-175.1	2196	2356	4003	3895	623.7	-12.1	262	4140	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2355	3950	4004	3896	0	0	0	0	0	0	28.83	28.83	28.83
4439	-0.72	-175.1	2195	2356	4003	3895	659.5	-11.8	272	4440	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2354	3951	4004	3899	0	0	0	0	0	0	28.83	28.83	28.83
4739	-0.72	-175.1	2195	2356	4004	3895	695.1	-11.9	282	4740	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2359	3949	4004	3895	0	0	0	0	0	0	28.83	28.83	28.83
5039	-0.72	-175.1	2195	2356	4004	3895	730.3	-11.7	292	5040	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2355	3947	4000	3894	0	0	0	0	0	0	28.83	28.83	28.83
5217	end dive: TARGET_DEPTH_EXCEEDED
state	5217	begin apogee
5222	-0.14	0.0	2193	2609	4005	3895	751.2	-11.6	298	5447	0.73	0.00	222.93	1.783	10246	0.263	0.000	2381	2608	3231	3283	3180	0	0	0	0	0	0	14.51	28.83	12.96
5448	end apogee: CONTROL_FINISHED_OK
state	5448	begin climb
5450	0.72	175.1	2382	2608	3277	3174	759.0	0.0	305	5616	0.98	2.33	157.00	2.067	10500	0.159	0.117	2665	3763	2507	2570	2445	0	0	0	0	0	0	13.57	12.97	12.30
5715	0.72	175.1	2659	3764	2566	2433	735.0	15.2	362	5720	0.00	2.12	0.00	0.000	1030	0.000	0.073	2668	2601	2499	2564	2435	0	0	1	0	0	0	28.83	13.53	28.83
6031	0.72	175.1	2668	2602	2566	2434	692.0	13.7	375	6032	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2601	2500	2567	2433	0	0	0	0	0	0	28.83	28.83	28.83
6330	0.72	175.1	2670	2601	2563	2433	651.7	13.4	385	6331	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2601	2499	2564	2434	0	0	0	0	0	0	28.83	28.83	28.83
6630	0.72	175.1	2668	2601	2566	2433	611.0	13.5	395	6631	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2601	2498	2564	2432	0	0	0	0	0	0	28.83	28.83	28.83
6930	0.72	175.1	2668	2601	2566	2432	571.3	13.2	405	6931	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2601	2500	2569	2431	0	0	0	0	0	0	28.83	28.83	28.83
7230	0.72	175.1	2668	2601	2566	2432	532.2	13.1	415	7231	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2599	2497	2564	2431	0	0	0	0	0	0	28.83	28.83	28.83
7530	0.72	175.1	2668	2601	2566	2432	492.9	13.1	425	7531	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2600	2495	2559	2431	0	0	0	0	0	0	28.83	28.83	28.83
7830	0.72	175.1	2670	2601	2566	2432	453.6	13.0	435	7831	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2597	2497	2564	2431	0	0	0	0	0	0	28.83	28.83	28.83
8130	0.72	175.1	2670	2601	2564	2431	414.9	12.8	445	8131	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2602	2497	2564	2431	0	0	0	0	0	0	28.83	28.83	28.83
8430	0.72	175.1	2668	2601	2566	2432	376.6	12.8	455	8431	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2600	2498	2565	2431	0	0	0	0	0	0	28.83	28.83	28.83
8730	0.72	175.1	2670	2601	2564	2432	338.6	12.5	465	8731	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2600	2497	2564	2431	0	0	0	0	0	0	28.83	28.83	28.83
9030	0.72	175.1	2668	2601	2566	2432	301.5	12.2	475	9031	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2601	2496	2561	2431	0	0	0	0	0	0	28.83	28.83	28.83
9330	0.72	175.1	2668	2601	2567	2432	265.6	11.6	485	9336	0.00	2.42	0.00	0.000	516	0.000	0.086	2679	1195	2497	2564	2431	0	0	0	0	0	0	28.83	14.64	28.83
9380	0.76	175.1	2680	1195	2563	2431	260.1	10.8	495	9386	0.00	2.50	0.00	0.000	1030	0.000	0.099	2681	2600	2497	2567	2427	0	0	0	0	0	0	28.83	14.61	28.83
9690	0.82	175.1	2679	2601	2566	2432	225.3	10.1	521	9691	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2599	2499	2565	2433	0	0	0	0	0	0	28.83	28.83	28.83
9990	0.88	231.4	2679	2601	2566	2432	196.6	9.1	551	10043	0.12	2.53	46.78	1.414	10756	0.155	0.085	2732	1194	2278	2345	2211	0	0	0	0	0	0	14.63	14.31	13.71
10087	0.88	231.4	2732	1195	2353	2198	185.6	12.3	570	10094	0.00	2.58	0.00	0.000	1030	0.000	0.099	2732	2606	2269	2338	2200	0	0	0	0	0	0	28.83	14.28	28.83
10393	0.91	231.4	2732	2606	2340	2199	149.1	10.9	601	10398	0.00	2.45	0.00	0.000	516	0.000	0.086	2742	1189	2267	2338	2197	0	0	0	0	0	0	28.83	14.42	28.83
10479	0.96	286.3	2743	1189	2338	2199	141.0	9.2	618	10534	0.00	2.50	47.10	1.377	9222	0.000	0.099	2738	2604	2052	2132	1972	0	0	0	0	0	0	28.83	14.45	13.59
10832	0.96	286.3	2742	2604	2128	1955	97.3	12.0	659	10838	0.00	2.12	0.00	0.000	260	0.000	0.124	2742	3769	2040	2126	1954	0	0	0	0	0	0	28.83	14.28	28.83
10963	0.96	286.3	2743	3766	2126	1954	80.6	11.7	682	10969	0.00	2.03	0.00	0.000	1030	0.000	0.079	2751	2600	2039	2126	1953	0	0	0	0	0	0	28.83	14.35	28.83
11268	1.10	425.9	2752	2600	2126	1953	57.2	5.4	713	11340	0.12	0.00	66.90	0.338	10502	0.158	0.000	2792	2599	1493	1585	1402	0	0	0	0	0	0	14.42	28.83	14.11
11638	1.16	481.8	2792	2600	1596	1412	16.5	9.1	751	11674	0.00	2.47	28.92	0.230	8964	0.000	0.084	2804	1193	1265	1357	1173	0	0	0	0	0	0	28.83	14.31	14.23
11899	1.45	772.5	2803	1194	1368	1181	13.3	-1.3	802	12004	0.30	2.50	93.78	0.215	11270	0.100	0.099	2911	2601	496	523	469	0	0	0	0	0	0	14.42	14.37	14.16
12047	end climb: SURFACE_DEPTH_REACHED
state	12047	begin surface coast
12057	end surface coast: CONTROL_FINISHED_OK
state	12057	begin surface