Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 167 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 180 C_ROLL_CLIMB 2740 ALTIM_FREQUENCY 13

MISSION 7 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 167 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 37 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 676.53741 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.75

D_ABORT 800 N_FILEKB 8 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 2 ROLL_ADJ_GAIN 1.5 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0.050000001 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 3258 DEVICE4 -1

D_SAFE 500 NOCOMM_ACTION 161 VBD_DBAND 2 DEVICE5 -1

D_CALL 3 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 5 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 1

SURFACE_URGENCY_TRY 5 CALL_TRIES 3 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 10 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 20 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 0 PHONE_DEVICE 49

T_NO_W 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -5222.1069 PITCH_W_GAIN 0 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 1 RAFOS_PEAK_OFFSET 0 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.050000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044209026

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00065043929

T_WATCHDOG 10 PITCH_MIN 208 MINV_10V 11 SEABIRD_T_I 2.5803243e-05

RELAUNCH 1 PITCH_MAX 3896 FG_AHR_10V 0 SEABIRD_T_J 3.1106315e-06

APOGEE_PITCH -5 C_PITCH 2895 FG_AHR_24V 0 SEABIRD_C_G -9.7475271

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1204907

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -73.350418 SEABIRD_C_I -0.00083350006

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001164176 SEABIRD_C_J 0.00013962483

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 38 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54281 PITCH_TIMEOUT 20 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 10 TM_LOGSAMPLE 0.0

HD_A 0.0043000001 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3787 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 4.3e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2760 ALTIM_PING_DELTA 20

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 750 PITCH_GAIN 38 SURFACE_URGENCY_FORCE 10

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3896 SURFACE_URGENCY_TRY 5

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 10 FERRY_MAX 45 PITCH_MIN 208 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 20 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 TGT_DEFAULT_LAT 7100

ALTIM_PING_DEPTH 0 FILEMGR 2 PITCH_W_DBAND 0 TGT_DEFAULT_LON -14430

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 4 PITCH_W_GAIN 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001164176 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -73.350418 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0043000001 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 4.3e-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 0.050000001 RAFOS_PEAK_OFFSET 0 T_GPS 3

CAPUPLOAD 0 ID 196 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -5222.1069

COMM_SEQ 0 INT_PRESSURE_YINT 0.75 ROLL_ADJ_DBAND 0.050000001 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 1.5 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 2895 LOGGERDEVICE4 -1 ROLL_MAX 3787 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2740 LOGGERS 1 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2760 MASS 54281 ROLL_MIN 218 UNCOM_BLEED 20

C_VBD 3258 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 37 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 21 USE_ICE 1

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 7 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 -9.7475271 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1204907 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.00083350006 VBD_MIN 500

DIVE 167 N_FILEKB 8 SEABIRD_C_J 0.00013962483 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 800 N_GPS -20 SEABIRD_T_G 0.0044209026 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00065043929 VBD_TIMEOUT 720

D_CALL 3 N_NOSURFACE 0 SEABIRD_T_I 2.5803243e-05 W_ADJ_DBAND 0

D_FINISH 9 PHONE_DEVICE 49 SEABIRD_T_J 3.1106315e-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 676.53741

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 190814,004048,7215.755,-14408.262,35,1.0,55,22.8 SPEED_LIMITS 0.201,0.252

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 4000.000

_SM_DEPTHo 1.58 MHEAD_RNG_PITCHd_Wd 158.1,73616,-22.3,-11.628,-24.76,1933

_SM_ANGLEo -77.5 D_GRID 1000

GPS2 190814,004743,7215.745,-14408.046,17,1.0,37,22.8

Post-dive calculations and measurements:

FREEZE 0.60,4.702,-0.690,2,1,0 _24V_AH 12.83,50.047

FINISH 0.6,1.010082 _10V_AH 12.88,0.000

SM_CCo 12373,0.00,0.000,0,0,497,677.27 FG_AHR_24Vo 0.000

SM_GC 1.49,9.30,1.77,0.00,0.082,0.057,0.000,203,2766,497,-8.37,1.19,677.27,0,0,0,0,0,0,14.31,14.32,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 47 MEM 266940

RAFOS_FIX 7159.117676,-14411.964844,070814,040446,2,255,0.12 DATA_FILE_SIZE 26670,767

IRIDIUM_FIX 7139.36,-14411.33,180814,211351 CAP_FILE_SIZE 126363,0

TT8_MAMPS 0.081641,0.081641 CFSIZE 2097872896,2059173888

HUMID 46.22 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.60186 INTR 1,5210.10,0x2378b6,2,5

TCM_TEMP 12.80 SOUNDSPEED 1450.1

XPDR_PINGS 6 GPS 190814,041524,7214.087,-14406.887,26,0.7,46,22.8

SC_FREEKB 3863840

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 394 117.37 nil 0 0 0.00

Roll_motor 30 100 39.61 nil 0 0 0.00

VBD_pump_during_apogee 537 1985 13688.74 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 12334 11 1863.97

Iridium_during_xfer 242 153 478.11 TMICL 0 0 0.00

Transponder_ping 1 420 8.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 38 20 10.45

TT8 0 0 0.00

LPSleep 10196 2 303.38

TT8_Active 607 9 74.04

TT8_Sampling 1845 28 688.30

TT8_CF8 131 35 60.65

TT8_Kalman 0 0 0.00

Analog_circuits 1453 10 187.24

GPS_charging 0 0 0.00

Compass 1150 0 11.12

RAFOS 1492 48 922.41

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

15 -0.69 -145.9 184 2762 436 542 0.0 0.0 0 79 0.00 0.00 -62.20 0.000 16386 0.000 0.000 182 2762 2073 2080 2067 0 0 0 0 0 0 28.83 28.83 28.83

81 -0.69 -145.9 183 2763 2078 2071 3.2 -3.4 6 130 11.98 2.47 -32.00 0.000 18948 0.395 0.093 2669 1355 3857 3914 3800 0 0 0 0 0 0 14.07 14.33 14.53

291 -0.69 -145.9 2669 1355 3915 3803 62.1 -23.0 48 295 0.00 2.50 0.00 0.000 1030 0.000 0.097 2660 2759 3859 3914 3805 0 0 0 0 0 0 28.83 14.35 28.83

600 -0.69 -145.9 2661 2760 3915 3807 130.1 -21.0 80 605 0.00 1.83 0.00 0.000 260 0.000 0.101 2651 3780 3860 3914 3806 0 0 0 0 0 0 28.83 14.42 28.83

691 -0.69 -145.9 2653 3781 3915 3808 149.5 -21.8 98 695 0.00 1.67 0.00 0.000 1030 0.000 0.057 2652 2743 3860 3914 3807 0 0 0 0 0 0 28.83 14.44 28.83

1000 -0.69 -145.9 2652 2740 3915 3807 206.9 -17.0 130 1001 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2743 3860 3914 3806 0 0 0 0 0 0 28.83 28.83 28.83

1310 -0.69 -145.9 2652 2743 3915 3807 256.1 -15.6 159 1311 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2742 3860 3914 3806 0 0 0 0 0 0 28.83 28.83 28.83

1610 -0.69 -145.9 2652 2743 3914 3806 301.6 -14.8 169 1611 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2742 3860 3914 3806 0 0 0 0 0 0 28.83 28.83 28.83

1910 -0.69 -145.9 2652 2743 3915 3807 344.5 -14.1 179 1911 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2742 3859 3913 3806 0 0 0 0 0 0 28.83 28.83 28.83

2210 -0.69 -145.9 2652 2743 3915 3806 386.2 -13.8 189 2211 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2743 3859 3914 3805 0 0 0 0 0 0 28.83 28.83 28.83

2510 -0.69 -145.9 2652 2743 3915 3804 427.6 -13.8 199 2511 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2741 3859 3914 3804 0 0 0 0 0 0 28.83 28.83 28.83

2810 -0.69 -145.9 2652 2743 3915 3804 468.0 -13.4 209 2815 0.00 2.33 0.00 0.000 516 0.000 0.072 2651 1374 3858 3914 3803 0 0 0 0 0 0 28.83 14.58 28.83

2850 -0.69 -145.9 2652 1375 3915 3803 473.2 -12.4 217 2856 0.12 2.42 0.00 0.000 3078 0.276 0.100 2666 2761 3858 3914 3803 0 0 0 0 0 0 14.48 14.57 28.83

3171 -0.69 -145.9 2667 2762 3915 3804 511.4 -11.8 231 3171 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2761 3858 3914 3803 0 0 0 0 0 0 28.83 28.83 28.83

3470 -0.69 -145.9 2667 2762 3915 3804 546.7 -11.7 241 3471 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2761 3858 3914 3803 0 0 0 0 0 0 28.83 28.83 28.83

3770 -0.69 -145.9 2667 2763 3915 3804 582.6 -12.0 251 3771 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2761 3858 3913 3803 0 0 0 0 0 0 28.83 28.83 28.83

4070 -0.69 -145.9 2667 2761 3914 3803 618.4 -11.9 261 4071 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2761 3858 3914 3802 0 0 0 0 0 0 28.83 28.83 28.83

4370 -0.69 -145.9 2667 2762 3915 3803 653.8 -11.8 271 4371 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2761 3858 3914 3802 0 0 0 0 0 0 28.83 28.83 28.83

4670 -0.69 -145.9 2667 2761 3915 3801 688.5 -11.5 281 4671 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2761 3858 3914 3802 0 0 0 0 0 0 28.83 28.83 28.83

4970 -0.69 -145.9 2667 2762 3915 3803 723.0 -11.5 291 4971 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2761 3858 3914 3802 0 0 0 0 0 0 28.83 28.83 28.83

5208 end dive: TARGET_DEPTH_EXCEEDED

state 5208 begin apogee

5212 -0.13 0.0 2667 2762 3915 3803 750.5 -11.4 299 5339 0.65 0.00 124.40 1.985 10246 0.225 0.000 2844 2761 3257 3273 3241 0 0 0 0 0 0 14.54 28.83 13.17

5340 end apogee: CONTROL_FINISHED_OK

state 5340 begin climb

5341 0.69 145.9 2845 2761 3270 3237 754.2 0.0 303 5469 0.88 0.00 124.68 1.836 10502 0.133 0.000 3108 2761 2661 2666 2656 0 0 0 0 0 0 13.81 28.83 12.83

5750 0.69 145.9 3109 2761 2665 2645 712.4 13.1 322 5751 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2761 2653 2662 2645 0 0 0 0 0 0 28.83 28.83 28.83

6050 0.69 145.9 3109 2761 2665 2644 673.7 12.8 332 6055 0.00 1.88 0.00 0.000 260 0.000 0.099 3108 3789 2653 2663 2644 0 0 0 0 0 0 28.83 14.23 28.83

6090 0.69 145.9 3109 3791 2664 2645 667.8 15.0 340 6095 0.00 1.77 0.00 0.000 1030 0.000 0.054 3114 2738 2653 2663 2644 0 0 0 0 0 0 28.83 14.31 28.83

6411 0.69 145.9 3115 2739 2664 2645 625.7 13.1 354 6411 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2738 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

6710 0.69 145.9 3115 2738 2664 2644 586.6 12.8 364 6711 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2738 2653 2663 2643 0 0 0 0 0 0 28.83 28.83 28.83

7010 0.69 145.9 3114 2738 2664 2643 548.4 12.7 374 7011 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2738 2653 2663 2643 0 0 0 0 0 0 28.83 28.83 28.83

7310 0.69 145.9 3115 2738 2665 2643 510.7 12.5 384 7311 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2738 2653 2664 2642 0 0 0 0 0 0 28.83 28.83 28.83

7610 0.69 145.9 3114 2738 2665 2643 473.9 12.2 394 7611 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2738 2652 2662 2643 0 0 0 0 0 0 28.83 28.83 28.83

7910 0.69 145.9 3114 2738 2664 2642 437.5 12.1 404 7911 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2738 2652 2663 2642 0 0 0 0 0 0 28.83 28.83 28.83

8210 0.69 145.9 3114 2738 2665 2642 400.6 12.2 414 8211 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2738 2653 2664 2642 0 0 0 0 0 0 28.83 28.83 28.83

8510 0.69 145.9 3115 2738 2665 2642 363.7 12.2 424 8511 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2738 2652 2663 2642 0 0 0 0 0 0 28.83 28.83 28.83

8810 0.69 145.9 3114 2738 2665 2642 328.5 11.7 434 8811 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2738 2653 2664 2642 0 0 0 0 0 0 28.83 28.83 28.83

9110 0.69 145.9 3115 2744 2664 2643 293.5 11.7 444 9111 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2738 2653 2664 2642 0 0 0 0 0 0 28.83 28.83 28.83

9410 0.70 157.7 3115 2738 2665 2643 260.3 11.0 454 9421 0.00 0.00 9.55 1.332 8198 0.000 0.000 3114 2738 2616 2625 2607 0 0 0 0 0 0 28.83 28.83 14.00

9710 0.72 192.3 3115 2739 2624 2603 228.5 9.8 476 9742 0.00 0.00 29.67 1.252 8198 0.000 0.000 3114 2738 2470 2475 2466 0 0 0 0 0 0 28.83 28.83 13.85

10041 0.75 230.7 3114 2738 2474 2458 193.9 9.6 509 10074 0.00 0.00 32.10 1.255 8198 0.000 0.000 3114 2738 2317 2319 2315 0 0 0 0 0 0 28.83 28.83 13.73

10371 0.79 282.9 3115 2738 2315 2303 161.9 8.9 542 10422 0.10 2.42 44.03 1.274 10756 0.161 0.071 3161 1347 2096 2098 2095 0 0 0 0 0 0 14.38 14.14 13.60

10461 0.79 282.9 3162 1347 2096 2092 151.9 11.8 560 10467 0.00 2.55 0.00 0.000 1030 0.000 0.094 3161 2766 2093 2094 2092 0 0 0 0 0 0 28.83 14.19 28.83

10772 0.79 285.2 3162 2767 2097 2087 114.4 11.5 592 10773 0.00 0.00 0.00 0.000 6 0.000 0.000 3162 2766 2091 2096 2087 0 0 0 0 0 0 28.83 28.83 28.83

11072 0.80 305.9 3162 2767 2098 2085 82.2 10.5 622 11083 0.00 0.00 8.70 0.429 8198 0.000 0.000 3161 2767 2012 2017 2007 0 0 0 0 0 0 28.83 28.83 14.16

11382 0.86 391.1 3162 2767 2030 2007 54.4 7.1 653 11423 0.00 0.00 38.28 0.349 8454 0.000 0.000 3162 2766 1661 1665 1658 0 0 0 0 0 0 28.83 28.83 14.19

11725 0.93 482.7 3162 2766 1671 1646 28.6 6.8 688 11771 0.00 2.47 39.83 0.288 8708 0.000 0.072 3164 1342 1289 1302 1276 0 0 0 0 0 0 28.83 14.28 14.17

11860 0.99 581.2 3165 1342 1307 1274 19.2 6.4 715 11912 0.15 2.53 44.15 0.254 11270 0.125 0.096 3223 2734 887 884 890 0 0 0 0 0 0 14.35 14.31 14.12

12216 1.09 718.8 3225 2735 882 879 4.0 4.3 756 12262 0.00 1.95 42.08 0.202 8454 0.000 0.101 3223 3793 498 459 538 0 0 0 0 0 0 28.83 14.26 14.19

12263 end climb: SURFACE_DEPTH_REACHED

state 12263 begin surface coast

12296 end surface coast: CONTROL_FINISHED_OK

state 12296 begin surface

ID	196	ESCAPE_HEADING	180	C_ROLL_CLIMB	2740	ALTIM_FREQUENCY	13
MISSION	7	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	167	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	37	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	676.53741	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.75
D_ABORT	800	N_FILEKB	8	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	2	ROLL_ADJ_GAIN	1.5	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0.050000001	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	3258	DEVICE4	-1
D_SAFE	500	NOCOMM_ACTION	161	VBD_DBAND	2	DEVICE5	-1
D_CALL	3	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	5	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	1
SURFACE_URGENCY_TRY	5	CALL_TRIES	3	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	10	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	20	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	0	PHONE_DEVICE	49
T_NO_W	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-5222.1069	PITCH_W_GAIN	0	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	1	RAFOS_PEAK_OFFSET	0	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.050000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044209026
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00065043929
T_WATCHDOG	10	PITCH_MIN	208	MINV_10V	11	SEABIRD_T_I	2.5803243e-05
RELAUNCH	1	PITCH_MAX	3896	FG_AHR_10V	0	SEABIRD_T_J	3.1106315e-06
APOGEE_PITCH	-5	C_PITCH	2895	FG_AHR_24V	0	SEABIRD_C_G	-9.7475271
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1204907
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-73.350418	SEABIRD_C_I	-0.00083350006
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001164176	SEABIRD_C_J	0.00013962483
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	38	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54281	PITCH_TIMEOUT	20	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	10	TM_LOGSAMPLE	0.0
HD_A	0.0043000001	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3787	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	4.3e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2760	ALTIM_PING_DELTA	20

GPS1	190814,004048,7215.755,-14408.262,35,1.0,55,22.8	SPEED_LIMITS	0.201,0.252
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	4000.000
_SM_DEPTHo	1.58	MHEAD_RNG_PITCHd_Wd	158.1,73616,-22.3,-11.628,-24.76,1933
_SM_ANGLEo	-77.5	D_GRID	1000
GPS2	190814,004743,7215.745,-14408.046,17,1.0,37,22.8

FREEZE	0.60,4.702,-0.690,2,1,0	_24V_AH	12.83,50.047
FINISH	0.6,1.010082	_10V_AH	12.88,0.000
SM_CCo	12373,0.00,0.000,0,0,497,677.27	FG_AHR_24Vo	0.000
SM_GC	1.49,9.30,1.77,0.00,0.082,0.057,0.000,203,2766,497,-8.37,1.19,677.27,0,0,0,0,0,0,14.31,14.32,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	47	MEM	266940
RAFOS_FIX	7159.117676,-14411.964844,070814,040446,2,255,0.12	DATA_FILE_SIZE	26670,767
IRIDIUM_FIX	7139.36,-14411.33,180814,211351	CAP_FILE_SIZE	126363,0
TT8_MAMPS	0.081641,0.081641	CFSIZE	2097872896,2059173888
HUMID	46.22	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.60186	INTR	1,5210.10,0x2378b6,2,5
TCM_TEMP	12.80	SOUNDSPEED	1450.1
XPDR_PINGS	6	GPS	190814,041524,7214.087,-14406.887,26,0.7,46,22.8
SC_FREEKB	3863840

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	394	117.37	nil	0	0	0.00
Roll_motor	30	100	39.61	nil	0	0	0.00
VBD_pump_during_apogee	537	1985	13688.74	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	12334	11	1863.97
Iridium_during_xfer	242	153	478.11	TMICL	0	0	0.00
Transponder_ping	1	420	8.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	38	20	10.45
TT8	0	0	0.00
LPSleep	10196	2	303.38
TT8_Active	607	9	74.04
TT8_Sampling	1845	28	688.30
TT8_CF8	131	35	60.65
TT8_Kalman	0	0	0.00
Analog_circuits	1453	10	187.24
GPS_charging	0	0	0.00
Compass	1150	0	11.12
RAFOS	1492	48	922.41
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
15	-0.69	-145.9	184	2762	436	542	0.0	0.0	0	79	0.00	0.00	-62.20	0.000	16386	0.000	0.000	182	2762	2073	2080	2067	0	0	0	0	0	0	28.83	28.83	28.83
81	-0.69	-145.9	183	2763	2078	2071	3.2	-3.4	6	130	11.98	2.47	-32.00	0.000	18948	0.395	0.093	2669	1355	3857	3914	3800	0	0	0	0	0	0	14.07	14.33	14.53
291	-0.69	-145.9	2669	1355	3915	3803	62.1	-23.0	48	295	0.00	2.50	0.00	0.000	1030	0.000	0.097	2660	2759	3859	3914	3805	0	0	0	0	0	0	28.83	14.35	28.83
600	-0.69	-145.9	2661	2760	3915	3807	130.1	-21.0	80	605	0.00	1.83	0.00	0.000	260	0.000	0.101	2651	3780	3860	3914	3806	0	0	0	0	0	0	28.83	14.42	28.83
691	-0.69	-145.9	2653	3781	3915	3808	149.5	-21.8	98	695	0.00	1.67	0.00	0.000	1030	0.000	0.057	2652	2743	3860	3914	3807	0	0	0	0	0	0	28.83	14.44	28.83
1000	-0.69	-145.9	2652	2740	3915	3807	206.9	-17.0	130	1001	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2743	3860	3914	3806	0	0	0	0	0	0	28.83	28.83	28.83
1310	-0.69	-145.9	2652	2743	3915	3807	256.1	-15.6	159	1311	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2742	3860	3914	3806	0	0	0	0	0	0	28.83	28.83	28.83
1610	-0.69	-145.9	2652	2743	3914	3806	301.6	-14.8	169	1611	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2742	3860	3914	3806	0	0	0	0	0	0	28.83	28.83	28.83
1910	-0.69	-145.9	2652	2743	3915	3807	344.5	-14.1	179	1911	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2742	3859	3913	3806	0	0	0	0	0	0	28.83	28.83	28.83
2210	-0.69	-145.9	2652	2743	3915	3806	386.2	-13.8	189	2211	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2743	3859	3914	3805	0	0	0	0	0	0	28.83	28.83	28.83
2510	-0.69	-145.9	2652	2743	3915	3804	427.6	-13.8	199	2511	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2741	3859	3914	3804	0	0	0	0	0	0	28.83	28.83	28.83
2810	-0.69	-145.9	2652	2743	3915	3804	468.0	-13.4	209	2815	0.00	2.33	0.00	0.000	516	0.000	0.072	2651	1374	3858	3914	3803	0	0	0	0	0	0	28.83	14.58	28.83
2850	-0.69	-145.9	2652	1375	3915	3803	473.2	-12.4	217	2856	0.12	2.42	0.00	0.000	3078	0.276	0.100	2666	2761	3858	3914	3803	0	0	0	0	0	0	14.48	14.57	28.83
3171	-0.69	-145.9	2667	2762	3915	3804	511.4	-11.8	231	3171	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2761	3858	3914	3803	0	0	0	0	0	0	28.83	28.83	28.83
3470	-0.69	-145.9	2667	2762	3915	3804	546.7	-11.7	241	3471	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2761	3858	3914	3803	0	0	0	0	0	0	28.83	28.83	28.83
3770	-0.69	-145.9	2667	2763	3915	3804	582.6	-12.0	251	3771	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2761	3858	3913	3803	0	0	0	0	0	0	28.83	28.83	28.83
4070	-0.69	-145.9	2667	2761	3914	3803	618.4	-11.9	261	4071	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2761	3858	3914	3802	0	0	0	0	0	0	28.83	28.83	28.83
4370	-0.69	-145.9	2667	2762	3915	3803	653.8	-11.8	271	4371	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2761	3858	3914	3802	0	0	0	0	0	0	28.83	28.83	28.83
4670	-0.69	-145.9	2667	2761	3915	3801	688.5	-11.5	281	4671	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2761	3858	3914	3802	0	0	0	0	0	0	28.83	28.83	28.83
4970	-0.69	-145.9	2667	2762	3915	3803	723.0	-11.5	291	4971	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2761	3858	3914	3802	0	0	0	0	0	0	28.83	28.83	28.83
5208	end dive: TARGET_DEPTH_EXCEEDED
state	5208	begin apogee
5212	-0.13	0.0	2667	2762	3915	3803	750.5	-11.4	299	5339	0.65	0.00	124.40	1.985	10246	0.225	0.000	2844	2761	3257	3273	3241	0	0	0	0	0	0	14.54	28.83	13.17
5340	end apogee: CONTROL_FINISHED_OK
state	5340	begin climb
5341	0.69	145.9	2845	2761	3270	3237	754.2	0.0	303	5469	0.88	0.00	124.68	1.836	10502	0.133	0.000	3108	2761	2661	2666	2656	0	0	0	0	0	0	13.81	28.83	12.83
5750	0.69	145.9	3109	2761	2665	2645	712.4	13.1	322	5751	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2761	2653	2662	2645	0	0	0	0	0	0	28.83	28.83	28.83
6050	0.69	145.9	3109	2761	2665	2644	673.7	12.8	332	6055	0.00	1.88	0.00	0.000	260	0.000	0.099	3108	3789	2653	2663	2644	0	0	0	0	0	0	28.83	14.23	28.83
6090	0.69	145.9	3109	3791	2664	2645	667.8	15.0	340	6095	0.00	1.77	0.00	0.000	1030	0.000	0.054	3114	2738	2653	2663	2644	0	0	0	0	0	0	28.83	14.31	28.83
6411	0.69	145.9	3115	2739	2664	2645	625.7	13.1	354	6411	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2738	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
6710	0.69	145.9	3115	2738	2664	2644	586.6	12.8	364	6711	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2738	2653	2663	2643	0	0	0	0	0	0	28.83	28.83	28.83
7010	0.69	145.9	3114	2738	2664	2643	548.4	12.7	374	7011	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2738	2653	2663	2643	0	0	0	0	0	0	28.83	28.83	28.83
7310	0.69	145.9	3115	2738	2665	2643	510.7	12.5	384	7311	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2738	2653	2664	2642	0	0	0	0	0	0	28.83	28.83	28.83
7610	0.69	145.9	3114	2738	2665	2643	473.9	12.2	394	7611	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2738	2652	2662	2643	0	0	0	0	0	0	28.83	28.83	28.83
7910	0.69	145.9	3114	2738	2664	2642	437.5	12.1	404	7911	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2738	2652	2663	2642	0	0	0	0	0	0	28.83	28.83	28.83
8210	0.69	145.9	3114	2738	2665	2642	400.6	12.2	414	8211	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2738	2653	2664	2642	0	0	0	0	0	0	28.83	28.83	28.83
8510	0.69	145.9	3115	2738	2665	2642	363.7	12.2	424	8511	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2738	2652	2663	2642	0	0	0	0	0	0	28.83	28.83	28.83
8810	0.69	145.9	3114	2738	2665	2642	328.5	11.7	434	8811	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2738	2653	2664	2642	0	0	0	0	0	0	28.83	28.83	28.83
9110	0.69	145.9	3115	2744	2664	2643	293.5	11.7	444	9111	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2738	2653	2664	2642	0	0	0	0	0	0	28.83	28.83	28.83
9410	0.70	157.7	3115	2738	2665	2643	260.3	11.0	454	9421	0.00	0.00	9.55	1.332	8198	0.000	0.000	3114	2738	2616	2625	2607	0	0	0	0	0	0	28.83	28.83	14.00
9710	0.72	192.3	3115	2739	2624	2603	228.5	9.8	476	9742	0.00	0.00	29.67	1.252	8198	0.000	0.000	3114	2738	2470	2475	2466	0	0	0	0	0	0	28.83	28.83	13.85
10041	0.75	230.7	3114	2738	2474	2458	193.9	9.6	509	10074	0.00	0.00	32.10	1.255	8198	0.000	0.000	3114	2738	2317	2319	2315	0	0	0	0	0	0	28.83	28.83	13.73
10371	0.79	282.9	3115	2738	2315	2303	161.9	8.9	542	10422	0.10	2.42	44.03	1.274	10756	0.161	0.071	3161	1347	2096	2098	2095	0	0	0	0	0	0	14.38	14.14	13.60
10461	0.79	282.9	3162	1347	2096	2092	151.9	11.8	560	10467	0.00	2.55	0.00	0.000	1030	0.000	0.094	3161	2766	2093	2094	2092	0	0	0	0	0	0	28.83	14.19	28.83
10772	0.79	285.2	3162	2767	2097	2087	114.4	11.5	592	10773	0.00	0.00	0.00	0.000	6	0.000	0.000	3162	2766	2091	2096	2087	0	0	0	0	0	0	28.83	28.83	28.83
11072	0.80	305.9	3162	2767	2098	2085	82.2	10.5	622	11083	0.00	0.00	8.70	0.429	8198	0.000	0.000	3161	2767	2012	2017	2007	0	0	0	0	0	0	28.83	28.83	14.16
11382	0.86	391.1	3162	2767	2030	2007	54.4	7.1	653	11423	0.00	0.00	38.28	0.349	8454	0.000	0.000	3162	2766	1661	1665	1658	0	0	0	0	0	0	28.83	28.83	14.19
11725	0.93	482.7	3162	2766	1671	1646	28.6	6.8	688	11771	0.00	2.47	39.83	0.288	8708	0.000	0.072	3164	1342	1289	1302	1276	0	0	0	0	0	0	28.83	14.28	14.17
11860	0.99	581.2	3165	1342	1307	1274	19.2	6.4	715	11912	0.15	2.53	44.15	0.254	11270	0.125	0.096	3223	2734	887	884	890	0	0	0	0	0	0	14.35	14.31	14.12
12216	1.09	718.8	3225	2735	882	879	4.0	4.3	756	12262	0.00	1.95	42.08	0.202	8454	0.000	0.101	3223	3793	498	459	538	0	0	0	0	0	0	28.83	14.26	14.19
12263	end climb: SURFACE_DEPTH_REACHED
state	12263	begin surface coast
12296	end surface coast: CONTROL_FINISHED_OK
state	12296	begin surface