Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 160 * 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 160 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 23 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 19 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 -21796.504 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 -21796.504

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 23 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 19 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 160 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 170814,223455,7248.993,-14554.674,30,0.9,50,22.3 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 2.21 MHEAD_RNG_PITCHd_Wd 342.5,29691,-19.5,-11.628,-22.92,2318

_SM_ANGLEo -70.3 D_GRID 1000

GPS2 170814,224117,7249.025,-14554.648,5,0.9,25,22.3

Post-dive calculations and measurements:

FREEZE 1.32,0.674,-0.942,2,1,0 _24V_AH 12.31,114.905

FINISH 1.3,1.013904 _10V_AH 12.54,0.000

SM_CCo 11569,1.67,0.229,0,0,498,669.67 FG_AHR_24Vo 0.000

SM_GC 2.58,8.25,2.15,1.67,0.096,0.106,0.229,197,2360,498,-6.95,-0.57,669.67,0,0,0,0,0,0,14.39,14.35,14.28 FG_AHR_10Vo 0.000

RAFOS_CLK 305 MEM 266584

RAFOS_FIX 7210.390625,-14553.904297,150814,000043,2,255,0.00 DATA_FILE_SIZE 26715,795

IRIDIUM_FIX 7214.16,-14556.43,170814,191050 CAP_FILE_SIZE 125248,0

TT8_MAMPS 0.050183,0.050183 CFSIZE 2097872896,2052653056

HUMID 49.76 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.44597 INTR 0,12371.24,0x2378b6,7,5

TCM_TEMP 11.80 SOUNDSPEED 1449.8

XPDR_PINGS 0 GPS 180814,015554,7250.657,-14553.968,35,0.7,55,22.3

SC_FREEKB 3998812

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 471 126.32 nil 0 0 0.00

Roll_motor 49 136 82.56 nil 0 0 0.00

VBD_pump_during_apogee 604 2086 15528.31 nil 0 0 0.00

VBD_pump_during_surface 1 228 4.72 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 11588 12 1728.61

Iridium_during_xfer 216 168 448.07 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.08

TT8 0 0 0.00

LPSleep 9315 2 269.85

TT8_Active 650 10 89.43

TT8_Sampling 1843 29 686.72

TT8_CF8 143 36 65.42

TT8_Kalman 0 0 0.00

Analog_circuits 1527 10 191.61

GPS_charging 0 0 0.00

Compass 1187 5 74.43

RAFOS 1436 48 864.36

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.72 -175.1 169 2355 515 474 0.0 0.0 0 80 0.00 0.00 -62.72 0.000 16386 0.000 0.000 167 2355 2043 2058 2029 0 0 0 0 0 0 28.83 28.83 28.83

82 -0.72 -175.1 168 2361 2058 2031 3.8 -3.3 6 136 11.12 2.55 -36.85 0.000 18692 0.471 0.136 2181 3767 3944 4000 3889 0 0 0 0 0 0 14.03 14.27 14.59

360 -0.72 -175.1 2182 3768 4000 3894 91.9 -24.5 62 365 0.00 2.45 0.00 0.000 1030 0.000 0.079 2181 2357 3946 4001 3892 0 0 0 0 0 0 28.83 14.42 28.83

670 -0.72 -175.1 2181 2357 4002 3894 159.2 -20.5 94 675 0.00 2.53 0.00 0.000 260 0.000 0.122 2170 3766 3947 4001 3894 0 0 0 0 0 0 28.83 14.40 28.83

745 -0.72 -175.1 2171 3766 4000 3894 175.5 -21.2 109 752 0.10 2.42 0.00 0.000 3078 0.288 0.078 2194 2359 3946 4000 3893 0 0 0 0 0 0 14.31 14.50 28.83

1050 -0.72 -175.1 2194 2359 4002 3890 227.8 -15.6 140 1051 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2358 3946 4000 3893 0 0 0 0 0 0 28.83 28.83 28.83

1350 -0.72 -175.1 2194 2359 4002 3894 271.7 -14.5 160 1355 0.00 2.40 0.00 0.000 516 0.000 0.090 2194 946 3947 4001 3894 0 0 0 0 0 0 28.83 14.49 28.83

1420 -0.72 -175.1 2194 946 4002 3894 281.4 -13.1 174 1425 0.00 2.53 0.00 0.000 1030 0.000 0.103 2185 2358 3946 4000 3893 0 0 0 0 0 0 28.83 14.51 28.83

1741 -0.72 -175.1 2185 2359 4002 3894 326.6 -14.1 188 1746 0.00 2.50 0.00 0.000 260 0.000 0.124 2175 3773 3948 4000 3897 0 0 0 0 0 0 28.83 14.49 28.83

1795 -0.72 -175.1 2176 3773 4000 3894 334.9 -15.0 199 1802 0.00 2.42 0.00 0.000 1030 0.000 0.079 2174 2359 3947 4000 3894 0 0 0 0 0 0 28.83 14.57 28.83

2100 -0.72 -175.1 2174 2360 4002 3894 379.3 -14.4 210 2101 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2355 3946 4000 3893 0 0 0 0 0 0 28.83 28.83 28.83

2400 -0.72 -175.1 2174 2360 4002 3894 421.8 -14.0 220 2401 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2359 3946 4000 3893 0 0 0 0 0 0 28.83 28.83 28.83

2700 -0.72 -175.1 2174 2361 4002 3894 463.3 -13.8 230 2701 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2360 3947 4000 3894 0 0 0 0 0 0 28.83 28.83 28.83

3000 -0.72 -175.1 2174 2360 4002 3894 504.6 -13.8 240 3001 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2360 3944 4000 3889 0 0 0 0 0 0 28.83 28.83 28.83

3300 -0.72 -175.1 2174 2361 4002 3901 545.6 -13.7 250 3301 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2360 3947 4000 3894 0 0 0 0 0 0 28.83 28.83 28.83

3600 -0.72 -175.1 2174 2360 4002 3895 586.3 -13.5 260 3601 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2360 3949 4005 3893 0 0 0 0 0 0 28.83 28.83 28.83

3900 -0.72 -175.1 2176 2360 4000 3894 625.8 -13.0 270 3901 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2359 3947 4000 3894 0 0 0 0 0 0 28.83 28.83 28.83

4200 -0.72 -175.1 2174 2360 4002 3894 665.1 -13.1 280 4201 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2356 3948 4000 3896 0 0 0 0 0 0 28.83 28.83 28.83

4500 -0.72 -175.1 2174 2360 4002 3895 704.2 -12.9 290 4501 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2360 3949 4001 3897 0 0 0 0 0 0 28.83 28.83 28.83

4801 -0.72 -175.1 2176 2360 4000 3894 743.1 -12.8 300 4802 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2360 3947 4001 3894 0 0 0 0 0 0 28.83 28.83 28.83

4858 end dive: TARGET_DEPTH_EXCEEDED

state 4859 begin apogee

4863 -0.14 0.0 2174 2610 3999 3894 750.9 -13.0 302 5033 0.82 0.00 167.32 2.032 10246 0.278 0.000 2382 2610 3229 3280 3179 0 0 0 0 0 0 14.45 28.83 13.01

5034 end apogee: CONTROL_FINISHED_OK

state 5034 begin climb

5036 0.72 175.1 2383 2611 3278 3174 756.0 0.0 307 5202 0.95 2.33 157.62 2.087 10500 0.158 0.119 2656 3762 2505 2568 2443 0 0 0 0 0 0 13.60 12.97 12.31

5336 0.72 175.1 2657 3763 2562 2438 727.0 15.0 372 5343 0.00 2.15 0.00 0.000 1030 0.000 0.074 2665 2592 2498 2563 2433 0 0 0 0 0 0 28.83 13.62 28.83

5642 0.72 175.1 2666 2593 2562 2434 685.6 13.5 383 5642 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2593 2502 2563 2441 0 0 0 0 0 0 28.83 28.83 28.83

5942 0.72 175.1 2667 2593 2563 2435 645.2 13.4 393 5942 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2593 2499 2563 2435 0 0 0 0 0 0 28.83 28.83 28.83

6242 0.72 175.1 2665 2594 2564 2435 605.1 13.3 403 6242 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2593 2498 2563 2434 0 0 0 0 0 0 28.83 28.83 28.83

6542 0.72 175.1 2665 2594 2571 2434 565.3 13.2 413 6542 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2593 2496 2562 2430 0 0 0 0 0 0 28.83 28.83 28.83

6842 0.72 175.1 2665 2594 2564 2435 525.9 13.1 423 6842 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2596 2498 2562 2434 0 0 0 0 0 0 28.83 28.83 28.83

7142 0.72 175.1 2665 2593 2564 2435 486.9 13.0 433 7142 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2592 2498 2563 2434 0 0 0 0 0 0 28.83 28.83 28.83

7442 0.72 175.1 2665 2593 2564 2435 447.9 13.0 443 7442 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2592 2498 2563 2434 0 0 0 0 0 0 28.83 28.83 28.83

7742 0.72 175.1 2666 2593 2562 2435 409.3 12.9 453 7742 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2592 2498 2562 2435 0 0 0 0 0 0 28.83 28.83 28.83

8042 0.72 175.1 2665 2593 2564 2435 371.0 12.6 463 8042 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2593 2498 2563 2434 0 0 0 0 0 0 28.83 28.83 28.83

8342 0.72 175.1 2665 2593 2564 2435 333.1 12.7 473 8342 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2593 2498 2563 2434 0 0 0 0 0 0 28.83 28.83 28.83

8642 0.72 175.1 2666 2593 2562 2435 295.5 12.5 483 8647 0.00 2.38 0.00 0.000 516 0.000 0.086 2677 1189 2498 2563 2434 0 0 0 0 0 0 28.83 14.64 28.83

8666 0.72 175.1 2677 1189 2562 2435 292.5 12.1 488 8673 0.00 2.50 0.00 0.000 1030 0.000 0.099 2675 2596 2498 2562 2434 0 0 0 0 0 0 28.83 14.60 28.83

8972 0.72 175.1 2676 2597 2564 2435 254.4 12.2 499 8972 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2594 2499 2563 2435 0 0 0 0 0 0 28.83 28.83 28.83

9272 0.79 175.1 2677 2597 2563 2435 221.1 9.9 525 9277 0.00 2.40 0.00 0.000 516 0.000 0.084 2686 1187 2496 2562 2431 0 0 0 0 0 0 28.83 14.63 28.83

9326 0.84 224.2 2687 1185 2562 2435 215.8 9.4 536 9374 0.00 2.50 41.42 1.427 9222 0.000 0.099 2686 2621 2309 2375 2244 0 0 0 0 0 0 28.83 14.60 13.70

9672 0.89 224.2 2688 2615 2367 2227 179.5 10.4 575 9673 0.12 0.00 0.00 0.000 2054 0.155 0.000 2729 2614 2295 2366 2225 0 0 0 0 0 0 14.43 28.83 28.83

9972 0.93 224.2 2728 2615 2368 2227 145.9 10.7 605 9972 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 2614 2296 2366 2226 0 0 0 0 0 0 28.83 28.83 28.83

10272 0.98 277.0 2729 2615 2368 2226 115.5 9.3 635 10324 0.00 2.50 44.97 1.355 8708 0.000 0.088 2740 1197 2090 2168 2013 0 0 0 0 0 0 28.83 14.24 13.69

10373 1.01 277.0 2740 1197 2164 2005 105.2 11.1 655 10379 0.00 2.53 0.00 0.000 1030 0.000 0.100 2740 2605 2082 2162 2003 0 0 0 0 0 0 28.83 14.26 28.83

10684 1.08 351.7 2741 2605 2162 2001 73.5 8.3 687 10725 0.12 0.00 35.10 0.385 10758 0.155 0.000 2783 2605 1796 1878 1714 0 0 0 0 0 0 14.45 28.83 14.13

11023 1.14 411.1 2782 2605 1895 1724 41.4 9.0 724 11060 0.00 2.47 31.23 0.294 8708 0.000 0.088 2794 1185 1553 1644 1462 0 0 0 0 0 0 28.83 14.41 14.25

11069 1.19 459.8 2790 1186 1648 1467 37.1 9.5 730 11100 0.00 2.53 24.92 0.285 9222 0.000 0.100 2794 2603 1356 1447 1265 0 0 0 0 0 0 28.83 14.35 14.22

11404 1.40 667.2 2795 2603 1453 1274 12.8 2.4 767 11518 0.28 2.55 101.85 0.212 10756 0.114 0.090 2905 1192 511 534 488 0 0 0 0 0 0 14.48 14.28 14.27

11541 end climb: SURFACE_DEPTH_REACHED

state 11541 begin surface coast

11552 end surface coast: CONTROL_FINISHED_OK

state 11552 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	160	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	23	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	19	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	-21796.504	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	170814,223455,7248.993,-14554.674,30,0.9,50,22.3	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	2.21	MHEAD_RNG_PITCHd_Wd	342.5,29691,-19.5,-11.628,-22.92,2318
_SM_ANGLEo	-70.3	D_GRID	1000
GPS2	170814,224117,7249.025,-14554.648,5,0.9,25,22.3

FREEZE	1.32,0.674,-0.942,2,1,0	_24V_AH	12.31,114.905
FINISH	1.3,1.013904	_10V_AH	12.54,0.000
SM_CCo	11569,1.67,0.229,0,0,498,669.67	FG_AHR_24Vo	0.000
SM_GC	2.58,8.25,2.15,1.67,0.096,0.106,0.229,197,2360,498,-6.95,-0.57,669.67,0,0,0,0,0,0,14.39,14.35,14.28	FG_AHR_10Vo	0.000
RAFOS_CLK	305	MEM	266584
RAFOS_FIX	7210.390625,-14553.904297,150814,000043,2,255,0.00	DATA_FILE_SIZE	26715,795
IRIDIUM_FIX	7214.16,-14556.43,170814,191050	CAP_FILE_SIZE	125248,0
TT8_MAMPS	0.050183,0.050183	CFSIZE	2097872896,2052653056
HUMID	49.76	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.44597	INTR	0,12371.24,0x2378b6,7,5
TCM_TEMP	11.80	SOUNDSPEED	1449.8
XPDR_PINGS	0	GPS	180814,015554,7250.657,-14553.968,35,0.7,55,22.3
SC_FREEKB	3998812

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	471	126.32	nil	0	0	0.00
Roll_motor	49	136	82.56	nil	0	0	0.00
VBD_pump_during_apogee	604	2086	15528.31	nil	0	0	0.00
VBD_pump_during_surface	1	228	4.72	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	11588	12	1728.61
Iridium_during_xfer	216	168	448.07	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.08
TT8	0	0	0.00
LPSleep	9315	2	269.85
TT8_Active	650	10	89.43
TT8_Sampling	1843	29	686.72
TT8_CF8	143	36	65.42
TT8_Kalman	0	0	0.00
Analog_circuits	1527	10	191.61
GPS_charging	0	0	0.00
Compass	1187	5	74.43
RAFOS	1436	48	864.36
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.72	-175.1	169	2355	515	474	0.0	0.0	0	80	0.00	0.00	-62.72	0.000	16386	0.000	0.000	167	2355	2043	2058	2029	0	0	0	0	0	0	28.83	28.83	28.83
82	-0.72	-175.1	168	2361	2058	2031	3.8	-3.3	6	136	11.12	2.55	-36.85	0.000	18692	0.471	0.136	2181	3767	3944	4000	3889	0	0	0	0	0	0	14.03	14.27	14.59
360	-0.72	-175.1	2182	3768	4000	3894	91.9	-24.5	62	365	0.00	2.45	0.00	0.000	1030	0.000	0.079	2181	2357	3946	4001	3892	0	0	0	0	0	0	28.83	14.42	28.83
670	-0.72	-175.1	2181	2357	4002	3894	159.2	-20.5	94	675	0.00	2.53	0.00	0.000	260	0.000	0.122	2170	3766	3947	4001	3894	0	0	0	0	0	0	28.83	14.40	28.83
745	-0.72	-175.1	2171	3766	4000	3894	175.5	-21.2	109	752	0.10	2.42	0.00	0.000	3078	0.288	0.078	2194	2359	3946	4000	3893	0	0	0	0	0	0	14.31	14.50	28.83
1050	-0.72	-175.1	2194	2359	4002	3890	227.8	-15.6	140	1051	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2358	3946	4000	3893	0	0	0	0	0	0	28.83	28.83	28.83
1350	-0.72	-175.1	2194	2359	4002	3894	271.7	-14.5	160	1355	0.00	2.40	0.00	0.000	516	0.000	0.090	2194	946	3947	4001	3894	0	0	0	0	0	0	28.83	14.49	28.83
1420	-0.72	-175.1	2194	946	4002	3894	281.4	-13.1	174	1425	0.00	2.53	0.00	0.000	1030	0.000	0.103	2185	2358	3946	4000	3893	0	0	0	0	0	0	28.83	14.51	28.83
1741	-0.72	-175.1	2185	2359	4002	3894	326.6	-14.1	188	1746	0.00	2.50	0.00	0.000	260	0.000	0.124	2175	3773	3948	4000	3897	0	0	0	0	0	0	28.83	14.49	28.83
1795	-0.72	-175.1	2176	3773	4000	3894	334.9	-15.0	199	1802	0.00	2.42	0.00	0.000	1030	0.000	0.079	2174	2359	3947	4000	3894	0	0	0	0	0	0	28.83	14.57	28.83
2100	-0.72	-175.1	2174	2360	4002	3894	379.3	-14.4	210	2101	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2355	3946	4000	3893	0	0	0	0	0	0	28.83	28.83	28.83
2400	-0.72	-175.1	2174	2360	4002	3894	421.8	-14.0	220	2401	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2359	3946	4000	3893	0	0	0	0	0	0	28.83	28.83	28.83
2700	-0.72	-175.1	2174	2361	4002	3894	463.3	-13.8	230	2701	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2360	3947	4000	3894	0	0	0	0	0	0	28.83	28.83	28.83
3000	-0.72	-175.1	2174	2360	4002	3894	504.6	-13.8	240	3001	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2360	3944	4000	3889	0	0	0	0	0	0	28.83	28.83	28.83
3300	-0.72	-175.1	2174	2361	4002	3901	545.6	-13.7	250	3301	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2360	3947	4000	3894	0	0	0	0	0	0	28.83	28.83	28.83
3600	-0.72	-175.1	2174	2360	4002	3895	586.3	-13.5	260	3601	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2360	3949	4005	3893	0	0	0	0	0	0	28.83	28.83	28.83
3900	-0.72	-175.1	2176	2360	4000	3894	625.8	-13.0	270	3901	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2359	3947	4000	3894	0	0	0	0	0	0	28.83	28.83	28.83
4200	-0.72	-175.1	2174	2360	4002	3894	665.1	-13.1	280	4201	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2356	3948	4000	3896	0	0	0	0	0	0	28.83	28.83	28.83
4500	-0.72	-175.1	2174	2360	4002	3895	704.2	-12.9	290	4501	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2360	3949	4001	3897	0	0	0	0	0	0	28.83	28.83	28.83
4801	-0.72	-175.1	2176	2360	4000	3894	743.1	-12.8	300	4802	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2360	3947	4001	3894	0	0	0	0	0	0	28.83	28.83	28.83
4858	end dive: TARGET_DEPTH_EXCEEDED
state	4859	begin apogee
4863	-0.14	0.0	2174	2610	3999	3894	750.9	-13.0	302	5033	0.82	0.00	167.32	2.032	10246	0.278	0.000	2382	2610	3229	3280	3179	0	0	0	0	0	0	14.45	28.83	13.01
5034	end apogee: CONTROL_FINISHED_OK
state	5034	begin climb
5036	0.72	175.1	2383	2611	3278	3174	756.0	0.0	307	5202	0.95	2.33	157.62	2.087	10500	0.158	0.119	2656	3762	2505	2568	2443	0	0	0	0	0	0	13.60	12.97	12.31
5336	0.72	175.1	2657	3763	2562	2438	727.0	15.0	372	5343	0.00	2.15	0.00	0.000	1030	0.000	0.074	2665	2592	2498	2563	2433	0	0	0	0	0	0	28.83	13.62	28.83
5642	0.72	175.1	2666	2593	2562	2434	685.6	13.5	383	5642	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2593	2502	2563	2441	0	0	0	0	0	0	28.83	28.83	28.83
5942	0.72	175.1	2667	2593	2563	2435	645.2	13.4	393	5942	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2593	2499	2563	2435	0	0	0	0	0	0	28.83	28.83	28.83
6242	0.72	175.1	2665	2594	2564	2435	605.1	13.3	403	6242	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2593	2498	2563	2434	0	0	0	0	0	0	28.83	28.83	28.83
6542	0.72	175.1	2665	2594	2571	2434	565.3	13.2	413	6542	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2593	2496	2562	2430	0	0	0	0	0	0	28.83	28.83	28.83
6842	0.72	175.1	2665	2594	2564	2435	525.9	13.1	423	6842	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2596	2498	2562	2434	0	0	0	0	0	0	28.83	28.83	28.83
7142	0.72	175.1	2665	2593	2564	2435	486.9	13.0	433	7142	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2592	2498	2563	2434	0	0	0	0	0	0	28.83	28.83	28.83
7442	0.72	175.1	2665	2593	2564	2435	447.9	13.0	443	7442	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2592	2498	2563	2434	0	0	0	0	0	0	28.83	28.83	28.83
7742	0.72	175.1	2666	2593	2562	2435	409.3	12.9	453	7742	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2592	2498	2562	2435	0	0	0	0	0	0	28.83	28.83	28.83
8042	0.72	175.1	2665	2593	2564	2435	371.0	12.6	463	8042	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2593	2498	2563	2434	0	0	0	0	0	0	28.83	28.83	28.83
8342	0.72	175.1	2665	2593	2564	2435	333.1	12.7	473	8342	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2593	2498	2563	2434	0	0	0	0	0	0	28.83	28.83	28.83
8642	0.72	175.1	2666	2593	2562	2435	295.5	12.5	483	8647	0.00	2.38	0.00	0.000	516	0.000	0.086	2677	1189	2498	2563	2434	0	0	0	0	0	0	28.83	14.64	28.83
8666	0.72	175.1	2677	1189	2562	2435	292.5	12.1	488	8673	0.00	2.50	0.00	0.000	1030	0.000	0.099	2675	2596	2498	2562	2434	0	0	0	0	0	0	28.83	14.60	28.83
8972	0.72	175.1	2676	2597	2564	2435	254.4	12.2	499	8972	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2594	2499	2563	2435	0	0	0	0	0	0	28.83	28.83	28.83
9272	0.79	175.1	2677	2597	2563	2435	221.1	9.9	525	9277	0.00	2.40	0.00	0.000	516	0.000	0.084	2686	1187	2496	2562	2431	0	0	0	0	0	0	28.83	14.63	28.83
9326	0.84	224.2	2687	1185	2562	2435	215.8	9.4	536	9374	0.00	2.50	41.42	1.427	9222	0.000	0.099	2686	2621	2309	2375	2244	0	0	0	0	0	0	28.83	14.60	13.70
9672	0.89	224.2	2688	2615	2367	2227	179.5	10.4	575	9673	0.12	0.00	0.00	0.000	2054	0.155	0.000	2729	2614	2295	2366	2225	0	0	0	0	0	0	14.43	28.83	28.83
9972	0.93	224.2	2728	2615	2368	2227	145.9	10.7	605	9972	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	2614	2296	2366	2226	0	0	0	0	0	0	28.83	28.83	28.83
10272	0.98	277.0	2729	2615	2368	2226	115.5	9.3	635	10324	0.00	2.50	44.97	1.355	8708	0.000	0.088	2740	1197	2090	2168	2013	0	0	0	0	0	0	28.83	14.24	13.69
10373	1.01	277.0	2740	1197	2164	2005	105.2	11.1	655	10379	0.00	2.53	0.00	0.000	1030	0.000	0.100	2740	2605	2082	2162	2003	0	0	0	0	0	0	28.83	14.26	28.83
10684	1.08	351.7	2741	2605	2162	2001	73.5	8.3	687	10725	0.12	0.00	35.10	0.385	10758	0.155	0.000	2783	2605	1796	1878	1714	0	0	0	0	0	0	14.45	28.83	14.13
11023	1.14	411.1	2782	2605	1895	1724	41.4	9.0	724	11060	0.00	2.47	31.23	0.294	8708	0.000	0.088	2794	1185	1553	1644	1462	0	0	0	0	0	0	28.83	14.41	14.25
11069	1.19	459.8	2790	1186	1648	1467	37.1	9.5	730	11100	0.00	2.53	24.92	0.285	9222	0.000	0.100	2794	2603	1356	1447	1265	0	0	0	0	0	0	28.83	14.35	14.22
11404	1.40	667.2	2795	2603	1453	1274	12.8	2.4	767	11518	0.28	2.55	101.85	0.212	10756	0.114	0.090	2905	1192	511	534	488	0	0	0	0	0	0	14.48	14.28	14.27
11541	end climb: SURFACE_DEPTH_REACHED
state	11541	begin surface coast
11552	end surface coast: CONTROL_FINISHED_OK
state	11552	begin surface