Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 170 * 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 170 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 27 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 18 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 -21810.197 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 -21810.197

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 27 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 18 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 170 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 190814,082924,7302.806,-14550.841,22,0.7,42,22.4 SPEED_LIMITS 0.139,0.275

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7315.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.27 MHEAD_RNG_PITCHd_Wd 338.9,22516,-19.5,-11.628,-22.92,2318

_SM_ANGLEo -74.4 D_GRID 1000

GPS2 190814,083632,7302.845,-14550.921,6,0.8,26,22.4

Post-dive calculations and measurements:

FREEZE 1.41,0.190,-1.429,2,1,0 _24V_AH 12.31,118.249

FINISH 1.4,1.021044 _10V_AH 12.57,0.000

SM_CCo 11793,2.97,0.220,0,0,500,669.91 FG_AHR_24Vo 0.000

SM_GC 3.13,8.15,2.15,2.97,0.090,0.108,0.220,201,2365,500,-6.95,-0.51,669.91,0,0,0,0,0,0,14.38,14.34,14.30 FG_AHR_10Vo 0.000

RAFOS_CLK 516 MEM 260824

RAFOS_FIX 7210.390625,-14553.904297,150814,000043,2,255,0.00 DATA_FILE_SIZE 30089,847

IRIDIUM_FIX 7228.39,-14543.89,190814,050525 CAP_FILE_SIZE 128438,0

TT8_MAMPS 0.042693,0.042693 CFSIZE 2097872896,2050752512

HUMID 49.52 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.4362 INTR 0,12427.38,0x2378b6,7,5

TCM_TEMP 12.50 SOUNDSPEED 1449.9

XPDR_PINGS 0 GPS 190814,115455,7304.531,-14550.805,34,0.8,54,22.4

SC_FREEKB 3997676

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 470 124.23 nil 0 0 0.00

Roll_motor 52 142 91.74 nil 0 0 0.00

VBD_pump_during_apogee 643 2101 16639.53 nil 0 0 0.00

VBD_pump_during_surface 2 219 8.04 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 11813 11 1730.77

Iridium_during_xfer 259 162 517.13 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.26

TT8 0 0 0.00

LPSleep 9405 2 273.11

TT8_Active 704 10 97.09

TT8_Sampling 1962 29 732.52

TT8_CF8 154 36 70.80

TT8_Kalman 0 0 0.00

Analog_circuits 1656 10 208.19

GPS_charging 0 0 0.00

Compass 1256 5 78.99

RAFOS 0 0 0.00

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 -175.1 196 2361 508 480 0.0 0.0 0 80 0.00 0.00 -62.92 0.000 16386 0.000 0.000 196 2361 2030 2049 2012 0 0 0 0 0 0 28.83 28.83 28.83

82 -0.72 -175.1 197 2362 2049 2013 3.4 -2.4 6 141 10.95 2.58 -40.17 0.000 18692 0.470 0.142 2180 3767 3946 4002 3891 0 0 0 0 0 0 14.01 14.31 14.57

365 -0.72 -175.1 2181 3768 4002 3895 89.7 -25.3 63 372 0.00 2.47 0.00 0.000 1030 0.000 0.080 2180 2354 3944 3995 3894 0 0 0 0 0 0 28.83 14.40 28.83

671 -0.72 -175.1 2181 2353 4002 3896 156.0 -19.7 94 676 0.00 2.53 0.00 0.000 260 0.000 0.121 2168 3767 3948 4002 3895 0 0 0 0 0 0 28.83 14.38 28.83

845 -0.72 -175.1 2170 3767 4002 3895 193.1 -20.2 129 852 0.12 2.45 0.00 0.000 3078 0.295 0.079 2198 2356 3945 3995 3895 0 0 0 0 0 0 14.28 14.47 28.83

1150 -0.72 -175.1 2200 2357 4002 3891 241.6 -14.3 160 1151 0.00 0.00 0.00 0.000 6 0.000 0.000 2199 2356 3950 4002 3899 0 0 0 0 0 0 28.83 28.83 28.83

1451 -0.72 -175.1 2199 2357 4004 3895 283.8 -13.8 174 1452 0.00 0.00 0.00 0.000 6 0.000 0.000 2199 2357 3946 4002 3891 0 0 0 0 0 0 28.83 28.83 28.83

1751 -0.72 -175.1 2200 2356 4001 3895 323.1 -13.0 184 1751 0.00 0.00 0.00 0.000 6 0.000 0.000 2199 2356 3949 4004 3894 0 0 0 0 0 0 28.83 28.83 28.83

2050 -0.72 -175.1 2199 2356 4004 3895 361.7 -12.9 194 2051 0.00 0.00 0.00 0.000 6 0.000 0.000 2199 2356 3946 4002 3891 0 0 0 0 0 0 28.83 28.83 28.83

2350 -0.72 -175.1 2199 2357 4003 3895 399.7 -12.6 204 2356 0.00 2.53 0.00 0.000 260 0.000 0.122 2189 3767 3948 4002 3894 0 0 0 0 0 0 28.83 14.48 28.83

2395 -0.72 -175.1 2191 3764 4002 3895 405.8 -13.8 213 2401 0.00 2.42 0.00 0.000 1030 0.000 0.076 2190 2353 3948 4002 3894 0 0 0 0 0 0 28.83 14.61 28.83

2710 -0.72 -175.1 2189 2353 4004 3895 446.6 -12.9 226 2711 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2352 3948 4002 3894 0 0 0 0 0 0 28.83 28.83 28.83

3010 -0.72 -175.1 2189 2353 4004 3895 485.5 -12.9 236 3011 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 2350 3948 4002 3894 0 0 0 0 0 0 28.83 28.83 28.83

3311 -0.72 -175.1 2190 2353 4002 3897 523.8 -12.6 246 3316 0.00 2.50 0.00 0.000 260 0.000 0.121 2179 3767 3948 4002 3895 0 0 0 0 0 0 28.83 14.54 28.83

3380 -0.72 -175.1 2180 3768 4002 3895 533.4 -14.0 260 3386 0.00 2.40 0.00 0.000 1030 0.000 0.076 2179 2361 3948 4002 3894 0 0 0 0 0 0 28.83 14.62 28.83

3701 -0.72 -175.1 2180 2361 4002 3895 575.8 -13.2 274 3702 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2361 3946 4002 3890 0 0 0 0 0 0 28.83 28.83 28.83

4000 -0.72 -175.1 2179 2362 4004 3896 615.5 -13.2 284 4001 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2361 3948 4002 3895 0 0 0 0 0 0 28.83 28.83 28.83

4300 -0.72 -175.1 2180 2362 4002 3895 655.0 -13.2 294 4301 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2361 3950 4002 3898 0 0 0 0 0 0 28.83 28.83 28.83

4600 -0.72 -175.1 2178 2361 4004 3895 694.1 -12.9 304 4601 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2361 3950 4005 3895 0 0 0 0 0 0 28.83 28.83 28.83

4900 -0.72 -175.1 2180 2361 4002 3895 732.4 -12.8 314 4906 0.00 2.50 0.00 0.000 260 0.000 0.119 2167 3772 3951 4008 3895 0 0 0 0 0 0 28.83 14.61 28.83

4950 -0.72 -175.1 2169 3772 4002 3895 739.5 -14.8 324 4956 0.08 2.40 0.00 0.000 3078 0.274 0.076 2206 2364 3948 4002 3895 0 0 0 0 0 0 14.45 14.64 28.83

5049 end dive: TARGET_DEPTH_EXCEEDED

state 5049 begin apogee

5053 -0.14 0.0 2196 2605 4004 3896 751.4 -11.8 329 5262 0.70 0.00 202.38 1.762 10246 0.269 0.000 2378 2605 3225 3277 3174 0 0 0 0 0 0 14.47 28.83 13.08

5263 end apogee: CONTROL_FINISHED_OK

state 5263 begin climb

5265 0.72 175.1 2379 2604 3278 3174 759.2 0.0 336 5431 0.98 2.33 157.27 2.101 10500 0.160 0.116 2660 3762 2509 2569 2449 0 0 0 0 0 0 13.64 13.00 12.31

5591 0.72 175.1 2660 3764 2565 2441 726.5 15.2 402 5596 0.00 2.12 0.00 0.000 1030 0.000 0.075 2668 2602 2501 2562 2440 0 0 0 0 0 0 28.83 13.73 28.83

5922 0.72 175.1 2669 2602 2565 2440 681.4 13.6 418 5923 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2602 2501 2563 2439 0 0 0 0 0 0 28.83 28.83 28.83

6221 0.72 175.1 2670 2602 2563 2439 640.7 13.6 428 6221 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2602 2501 2564 2439 0 0 0 0 0 0 28.83 28.83 28.83

6521 0.72 175.1 2669 2603 2565 2439 600.1 13.5 438 6521 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2602 2500 2563 2438 0 0 0 0 0 0 28.83 28.83 28.83

6821 0.72 175.1 2670 2602 2563 2439 559.4 13.7 448 6822 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2602 2500 2563 2438 0 0 0 0 0 0 28.83 28.83 28.83

7121 0.72 175.1 2668 2602 2565 2439 519.0 13.4 458 7122 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2602 2500 2563 2438 0 0 0 0 0 0 28.83 28.83 28.83

7421 0.72 175.1 2669 2603 2564 2439 479.4 13.2 468 7422 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2602 2500 2563 2438 0 0 0 0 0 0 28.83 28.83 28.83

7721 0.72 175.1 2670 2602 2563 2440 440.8 12.9 478 7722 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2602 2498 2563 2433 0 0 0 0 0 0 28.83 28.83 28.83

8021 0.72 175.1 2668 2603 2565 2439 402.3 12.8 488 8022 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2602 2500 2563 2438 0 0 0 0 0 0 28.83 28.83 28.83

8321 0.72 175.1 2670 2602 2563 2439 363.9 12.9 498 8322 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2602 2498 2563 2434 0 0 0 0 0 0 28.83 28.83 28.83

8621 0.72 175.1 2670 2602 2562 2438 325.9 12.5 508 8622 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2602 2500 2563 2438 0 0 0 0 0 0 28.83 28.83 28.83

8921 0.72 175.1 2669 2603 2563 2439 290.0 11.8 518 8922 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2602 2500 2563 2438 0 0 0 0 0 0 28.83 28.83 28.83

9221 0.72 175.1 2669 2602 2565 2439 254.8 11.3 528 9222 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2602 2500 2563 2438 0 0 0 0 0 0 28.83 28.83 28.83

9521 0.78 226.9 2669 2602 2563 2439 223.2 9.3 554 9572 0.00 2.47 43.67 1.423 8708 0.000 0.085 2679 1198 2293 2359 2228 0 0 0 0 0 0 28.83 14.33 13.75

9598 0.83 226.9 2679 1198 2358 2223 215.7 10.2 569 9604 0.00 2.50 0.00 0.000 1030 0.000 0.096 2679 2602 2287 2352 2222 0 0 0 0 0 0 28.83 14.30 28.83

9902 0.88 226.9 2679 2603 2356 2219 184.0 10.4 600 9907 0.12 2.42 0.00 0.000 2564 0.152 0.083 2733 1197 2286 2355 2218 0 0 0 0 0 0 14.48 14.45 28.83

9967 0.88 226.9 2733 1193 2357 2219 176.8 11.3 613 9973 0.00 2.53 0.00 0.000 1030 0.000 0.097 2733 2622 2285 2355 2216 0 0 0 0 0 0 28.83 14.44 28.83

10273 0.90 226.9 2733 2623 2356 2219 141.8 11.1 644 10278 0.00 2.03 0.00 0.000 260 0.000 0.122 2733 3771 2286 2355 2218 0 0 0 0 0 0 28.83 14.45 28.83

10342 0.90 226.9 2735 3772 2354 2218 133.6 11.9 658 10347 0.00 2.03 0.00 0.000 1030 0.000 0.079 2743 2597 2286 2354 2218 0 0 0 0 0 0 28.83 14.52 28.83

10653 0.96 289.9 2743 2597 2356 2219 104.3 8.8 690 10713 0.00 0.00 55.03 1.317 8198 0.000 0.000 2743 2597 2037 2117 1958 0 0 0 0 0 0 28.83 28.83 13.66

11012 1.02 348.6 2742 2597 2111 1944 66.7 9.0 726 11044 0.00 2.15 26.62 0.363 8452 0.000 0.120 2743 3773 1808 1891 1726 0 0 0 0 0 0 28.83 14.30 14.14

11264 1.13 459.7 2742 3773 1902 1740 45.4 6.7 776 11326 0.15 2.00 57.45 0.304 11270 0.142 0.080 2801 2599 1358 1452 1264 0 0 0 0 0 0 14.45 14.46 14.19

11624 1.34 664.2 2802 2599 1449 1273 14.3 2.6 818 11733 0.20 2.42 100.80 0.220 10756 0.125 0.086 2881 1197 520 546 494 0 0 0 0 0 0 14.47 14.33 14.23

11766 end climb: SURFACE_DEPTH_REACHED

state 11766 begin surface coast

11776 end surface coast: CONTROL_FINISHED_OK

state 11776 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	170	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	27	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	18	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	-21810.197	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	190814,082924,7302.806,-14550.841,22,0.7,42,22.4	SPEED_LIMITS	0.139,0.275
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7315.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.27	MHEAD_RNG_PITCHd_Wd	338.9,22516,-19.5,-11.628,-22.92,2318
_SM_ANGLEo	-74.4	D_GRID	1000
GPS2	190814,083632,7302.845,-14550.921,6,0.8,26,22.4

FREEZE	1.41,0.190,-1.429,2,1,0	_24V_AH	12.31,118.249
FINISH	1.4,1.021044	_10V_AH	12.57,0.000
SM_CCo	11793,2.97,0.220,0,0,500,669.91	FG_AHR_24Vo	0.000
SM_GC	3.13,8.15,2.15,2.97,0.090,0.108,0.220,201,2365,500,-6.95,-0.51,669.91,0,0,0,0,0,0,14.38,14.34,14.30	FG_AHR_10Vo	0.000
RAFOS_CLK	516	MEM	260824
RAFOS_FIX	7210.390625,-14553.904297,150814,000043,2,255,0.00	DATA_FILE_SIZE	30089,847
IRIDIUM_FIX	7228.39,-14543.89,190814,050525	CAP_FILE_SIZE	128438,0
TT8_MAMPS	0.042693,0.042693	CFSIZE	2097872896,2050752512
HUMID	49.52	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.4362	INTR	0,12427.38,0x2378b6,7,5
TCM_TEMP	12.50	SOUNDSPEED	1449.9
XPDR_PINGS	0	GPS	190814,115455,7304.531,-14550.805,34,0.8,54,22.4
SC_FREEKB	3997676

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	470	124.23	nil	0	0	0.00
Roll_motor	52	142	91.74	nil	0	0	0.00
VBD_pump_during_apogee	643	2101	16639.53	nil	0	0	0.00
VBD_pump_during_surface	2	219	8.04	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	11813	11	1730.77
Iridium_during_xfer	259	162	517.13	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.26
TT8	0	0	0.00
LPSleep	9405	2	273.11
TT8_Active	704	10	97.09
TT8_Sampling	1962	29	732.52
TT8_CF8	154	36	70.80
TT8_Kalman	0	0	0.00
Analog_circuits	1656	10	208.19
GPS_charging	0	0	0.00
Compass	1256	5	78.99
RAFOS	0	0	0.00
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	196	2361	508	480	0.0	0.0	0	80	0.00	0.00	-62.92	0.000	16386	0.000	0.000	196	2361	2030	2049	2012	0	0	0	0	0	0	28.83	28.83	28.83
82	-0.72	-175.1	197	2362	2049	2013	3.4	-2.4	6	141	10.95	2.58	-40.17	0.000	18692	0.470	0.142	2180	3767	3946	4002	3891	0	0	0	0	0	0	14.01	14.31	14.57
365	-0.72	-175.1	2181	3768	4002	3895	89.7	-25.3	63	372	0.00	2.47	0.00	0.000	1030	0.000	0.080	2180	2354	3944	3995	3894	0	0	0	0	0	0	28.83	14.40	28.83
671	-0.72	-175.1	2181	2353	4002	3896	156.0	-19.7	94	676	0.00	2.53	0.00	0.000	260	0.000	0.121	2168	3767	3948	4002	3895	0	0	0	0	0	0	28.83	14.38	28.83
845	-0.72	-175.1	2170	3767	4002	3895	193.1	-20.2	129	852	0.12	2.45	0.00	0.000	3078	0.295	0.079	2198	2356	3945	3995	3895	0	0	0	0	0	0	14.28	14.47	28.83
1150	-0.72	-175.1	2200	2357	4002	3891	241.6	-14.3	160	1151	0.00	0.00	0.00	0.000	6	0.000	0.000	2199	2356	3950	4002	3899	0	0	0	0	0	0	28.83	28.83	28.83
1451	-0.72	-175.1	2199	2357	4004	3895	283.8	-13.8	174	1452	0.00	0.00	0.00	0.000	6	0.000	0.000	2199	2357	3946	4002	3891	0	0	0	0	0	0	28.83	28.83	28.83
1751	-0.72	-175.1	2200	2356	4001	3895	323.1	-13.0	184	1751	0.00	0.00	0.00	0.000	6	0.000	0.000	2199	2356	3949	4004	3894	0	0	0	0	0	0	28.83	28.83	28.83
2050	-0.72	-175.1	2199	2356	4004	3895	361.7	-12.9	194	2051	0.00	0.00	0.00	0.000	6	0.000	0.000	2199	2356	3946	4002	3891	0	0	0	0	0	0	28.83	28.83	28.83
2350	-0.72	-175.1	2199	2357	4003	3895	399.7	-12.6	204	2356	0.00	2.53	0.00	0.000	260	0.000	0.122	2189	3767	3948	4002	3894	0	0	0	0	0	0	28.83	14.48	28.83
2395	-0.72	-175.1	2191	3764	4002	3895	405.8	-13.8	213	2401	0.00	2.42	0.00	0.000	1030	0.000	0.076	2190	2353	3948	4002	3894	0	0	0	0	0	0	28.83	14.61	28.83
2710	-0.72	-175.1	2189	2353	4004	3895	446.6	-12.9	226	2711	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2352	3948	4002	3894	0	0	0	0	0	0	28.83	28.83	28.83
3010	-0.72	-175.1	2189	2353	4004	3895	485.5	-12.9	236	3011	0.00	0.00	0.00	0.000	6	0.000	0.000	2189	2350	3948	4002	3894	0	0	0	0	0	0	28.83	28.83	28.83
3311	-0.72	-175.1	2190	2353	4002	3897	523.8	-12.6	246	3316	0.00	2.50	0.00	0.000	260	0.000	0.121	2179	3767	3948	4002	3895	0	0	0	0	0	0	28.83	14.54	28.83
3380	-0.72	-175.1	2180	3768	4002	3895	533.4	-14.0	260	3386	0.00	2.40	0.00	0.000	1030	0.000	0.076	2179	2361	3948	4002	3894	0	0	0	0	0	0	28.83	14.62	28.83
3701	-0.72	-175.1	2180	2361	4002	3895	575.8	-13.2	274	3702	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2361	3946	4002	3890	0	0	0	0	0	0	28.83	28.83	28.83
4000	-0.72	-175.1	2179	2362	4004	3896	615.5	-13.2	284	4001	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2361	3948	4002	3895	0	0	0	0	0	0	28.83	28.83	28.83
4300	-0.72	-175.1	2180	2362	4002	3895	655.0	-13.2	294	4301	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2361	3950	4002	3898	0	0	0	0	0	0	28.83	28.83	28.83
4600	-0.72	-175.1	2178	2361	4004	3895	694.1	-12.9	304	4601	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2361	3950	4005	3895	0	0	0	0	0	0	28.83	28.83	28.83
4900	-0.72	-175.1	2180	2361	4002	3895	732.4	-12.8	314	4906	0.00	2.50	0.00	0.000	260	0.000	0.119	2167	3772	3951	4008	3895	0	0	0	0	0	0	28.83	14.61	28.83
4950	-0.72	-175.1	2169	3772	4002	3895	739.5	-14.8	324	4956	0.08	2.40	0.00	0.000	3078	0.274	0.076	2206	2364	3948	4002	3895	0	0	0	0	0	0	14.45	14.64	28.83
5049	end dive: TARGET_DEPTH_EXCEEDED
state	5049	begin apogee
5053	-0.14	0.0	2196	2605	4004	3896	751.4	-11.8	329	5262	0.70	0.00	202.38	1.762	10246	0.269	0.000	2378	2605	3225	3277	3174	0	0	0	0	0	0	14.47	28.83	13.08
5263	end apogee: CONTROL_FINISHED_OK
state	5263	begin climb
5265	0.72	175.1	2379	2604	3278	3174	759.2	0.0	336	5431	0.98	2.33	157.27	2.101	10500	0.160	0.116	2660	3762	2509	2569	2449	0	0	0	0	0	0	13.64	13.00	12.31
5591	0.72	175.1	2660	3764	2565	2441	726.5	15.2	402	5596	0.00	2.12	0.00	0.000	1030	0.000	0.075	2668	2602	2501	2562	2440	0	0	0	0	0	0	28.83	13.73	28.83
5922	0.72	175.1	2669	2602	2565	2440	681.4	13.6	418	5923	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2602	2501	2563	2439	0	0	0	0	0	0	28.83	28.83	28.83
6221	0.72	175.1	2670	2602	2563	2439	640.7	13.6	428	6221	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2602	2501	2564	2439	0	0	0	0	0	0	28.83	28.83	28.83
6521	0.72	175.1	2669	2603	2565	2439	600.1	13.5	438	6521	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2602	2500	2563	2438	0	0	0	0	0	0	28.83	28.83	28.83
6821	0.72	175.1	2670	2602	2563	2439	559.4	13.7	448	6822	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2602	2500	2563	2438	0	0	0	0	0	0	28.83	28.83	28.83
7121	0.72	175.1	2668	2602	2565	2439	519.0	13.4	458	7122	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2602	2500	2563	2438	0	0	0	0	0	0	28.83	28.83	28.83
7421	0.72	175.1	2669	2603	2564	2439	479.4	13.2	468	7422	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2602	2500	2563	2438	0	0	0	0	0	0	28.83	28.83	28.83
7721	0.72	175.1	2670	2602	2563	2440	440.8	12.9	478	7722	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2602	2498	2563	2433	0	0	0	0	0	0	28.83	28.83	28.83
8021	0.72	175.1	2668	2603	2565	2439	402.3	12.8	488	8022	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2602	2500	2563	2438	0	0	0	0	0	0	28.83	28.83	28.83
8321	0.72	175.1	2670	2602	2563	2439	363.9	12.9	498	8322	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2602	2498	2563	2434	0	0	0	0	0	0	28.83	28.83	28.83
8621	0.72	175.1	2670	2602	2562	2438	325.9	12.5	508	8622	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2602	2500	2563	2438	0	0	0	0	0	0	28.83	28.83	28.83
8921	0.72	175.1	2669	2603	2563	2439	290.0	11.8	518	8922	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2602	2500	2563	2438	0	0	0	0	0	0	28.83	28.83	28.83
9221	0.72	175.1	2669	2602	2565	2439	254.8	11.3	528	9222	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2602	2500	2563	2438	0	0	0	0	0	0	28.83	28.83	28.83
9521	0.78	226.9	2669	2602	2563	2439	223.2	9.3	554	9572	0.00	2.47	43.67	1.423	8708	0.000	0.085	2679	1198	2293	2359	2228	0	0	0	0	0	0	28.83	14.33	13.75
9598	0.83	226.9	2679	1198	2358	2223	215.7	10.2	569	9604	0.00	2.50	0.00	0.000	1030	0.000	0.096	2679	2602	2287	2352	2222	0	0	0	0	0	0	28.83	14.30	28.83
9902	0.88	226.9	2679	2603	2356	2219	184.0	10.4	600	9907	0.12	2.42	0.00	0.000	2564	0.152	0.083	2733	1197	2286	2355	2218	0	0	0	0	0	0	14.48	14.45	28.83
9967	0.88	226.9	2733	1193	2357	2219	176.8	11.3	613	9973	0.00	2.53	0.00	0.000	1030	0.000	0.097	2733	2622	2285	2355	2216	0	0	0	0	0	0	28.83	14.44	28.83
10273	0.90	226.9	2733	2623	2356	2219	141.8	11.1	644	10278	0.00	2.03	0.00	0.000	260	0.000	0.122	2733	3771	2286	2355	2218	0	0	0	0	0	0	28.83	14.45	28.83
10342	0.90	226.9	2735	3772	2354	2218	133.6	11.9	658	10347	0.00	2.03	0.00	0.000	1030	0.000	0.079	2743	2597	2286	2354	2218	0	0	0	0	0	0	28.83	14.52	28.83
10653	0.96	289.9	2743	2597	2356	2219	104.3	8.8	690	10713	0.00	0.00	55.03	1.317	8198	0.000	0.000	2743	2597	2037	2117	1958	0	0	0	0	0	0	28.83	28.83	13.66
11012	1.02	348.6	2742	2597	2111	1944	66.7	9.0	726	11044	0.00	2.15	26.62	0.363	8452	0.000	0.120	2743	3773	1808	1891	1726	0	0	0	0	0	0	28.83	14.30	14.14
11264	1.13	459.7	2742	3773	1902	1740	45.4	6.7	776	11326	0.15	2.00	57.45	0.304	11270	0.142	0.080	2801	2599	1358	1452	1264	0	0	0	0	0	0	14.45	14.46	14.19
11624	1.34	664.2	2802	2599	1449	1273	14.3	2.6	818	11733	0.20	2.42	100.80	0.220	10756	0.125	0.086	2881	1197	520	546	494	0	0	0	0	0	0	14.47	14.33	14.23
11766	end climb: SURFACE_DEPTH_REACHED
state	11766	begin surface coast
11776	end surface coast: CONTROL_FINISHED_OK
state	11776	begin surface