Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 0 C_ROLL_CLIMB 2840 ALTIM_FREQUENCY 13

MISSION 7 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 18 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 2

D_SURF 2 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 40 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 19 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 681.01007 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.75

D_ABORT 600 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 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 0 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 3317 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 140 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 180 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 5 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -4696.7109 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 0 RAFOS_PEAK_OFFSET 1.5 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 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 2909 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 10 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 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 400

HEADING -1 C_ROLL_DIVE 2700 ALTIM_PING_DELTA 20

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 500 PITCH_GAIN 38 SURFACE_URGENCY_FORCE 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3896 SURFACE_URGENCY_TRY 0

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 4736

ALTIM_PING_DEPTH 400 FILEMGR 0 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 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 5 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 140

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CAPUPLOAD 0 ID 196 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -4696.7109

COMM_SEQ 0 INT_PRESSURE_YINT 0.75 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_MISSION 180

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 120

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 2909 LOGGERDEVICE4 -1 ROLL_MAX 3787 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2840 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2700 MASS 54281 ROLL_MIN 218 UNCOM_BLEED 20

C_VBD 3317 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 40 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 19 USE_ICE 0

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 10 SEABIRD_C_G -9.7475271 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1204907 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.00083350006 VBD_MIN 500

DIVE 18 N_FILEKB 8 SEABIRD_C_J 0.00013962483 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 N_GPS -20 SEABIRD_T_G 0.0044209026 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00065043929 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.5803243e-05 W_ADJ_DBAND 0

D_FINISH 0 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 0.02 SM_CC 681.01007

D_PITCH 0 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 0 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 290714,022154,7055.318,-14427.868,36,0.7,56,22.3 SPEED_LIMITS 0.206,0.254

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.36 MHEAD_RNG_PITCHd_Wd 339.0,76203,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -78.6 D_GRID 1000

GPS2 290714,023210,7055.249,-14428.020,5,0.8,25,22.3

Post-dive calculations and measurements:

FREEZE 11.81,2.778,-1.466,0,1,0 _10V_AH 12.69,0.000

SM_CCo 8222,127.10,0.218,0,0,498,691.50 FG_AHR_24Vo 0.000

SM_GC 1.49,9.18,0.22,0.00,0.084,0.096,0.000,202,2697,496,-8.41,1.16,691.75,0,0,0,0,0,0,14.37,14.40,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 156 MEM 307104

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26736,754

IRIDIUM_FIX 7026.32,-14434.62,280714,235232 CAP_FILE_SIZE 130600,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2088697856

HUMID 45.35 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.5628 INTR 0,9181.21,0x2378b6,7,5

TCM_TEMP 12.30 SOUNDSPEED 1449.1

XPDR_PINGS 5 EKF 8598,4256.376465,-8667.593750,11.809597,0.010554,-0.034580,0.008326,0.000126,0.001176,0.000099,0.001025,0.001025,0.000050

SC_FREEKB 3930080 CURRENT 0.080,154.85,1

TM_FREEKB 7731704 GPS 290714,045543,7056.042,-14427.131,14,0.8,34,22.3

_24V_AH 12.66,7.210

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 401 123.05 nil 0 0 0.00

Roll_motor 77 123 121.12 nil 0 0 0.00

VBD_pump_during_apogee 459 2682 15599.90 nil 0 0 0.00

VBD_pump_during_surface 127 218 350.82 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 8242 15 1568.70

Iridium_during_xfer 389 183 904.59 TMICL 8290 13 1395.64

Transponder_ping 2 420 14.62 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.08

TT8 0 0 0.00

LPSleep 6098 2 178.77

TT8_Active 771 9 92.69

TT8_Sampling 2204 28 809.92

TT8_CF8 72 35 32.78

TT8_Kalman 0 0 0.00

Analog_circuits 1847 10 234.48

GPS_charging 0 0 0.00

Compass 1116 0 10.63

RAFOS 1474 48 897.84

Transponder 13 30 5.01

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.70 -145.9 205 2701 495 590 0.0 0.0 0 83 0.00 0.00 -63.17 0.000 16386 0.000 0.000 204 2701 2170 2175 2166 0 0 0 0 0 0 28.83 28.83 28.83

85 -0.70 -145.9 211 2701 2176 2162 3.0 -3.4 6 135 12.10 2.47 -31.35 0.000 18948 0.402 0.096 2673 1298 3914 3976 3853 0 0 0 0 0 0 14.07 14.27 14.46

254 -0.59 -145.9 2674 1298 3977 3856 45.7 -24.0 37 263 0.22 2.50 0.00 0.000 3078 0.298 0.102 2710 2698 3916 3976 3856 0 0 0 0 0 0 14.18 14.30 28.83

558 -0.59 -145.9 2713 2696 3977 3858 100.6 -16.2 68 568 0.00 1.92 0.00 0.000 260 0.000 0.110 2706 3789 3916 3976 3857 0 0 0 0 0 0 28.83 14.37 28.83

617 -0.59 -145.9 2707 3790 3976 3859 110.9 -18.0 79 626 0.00 1.85 0.00 0.000 1030 0.000 0.061 2706 2693 3915 3973 3857 0 0 0 0 0 0 28.83 14.43 28.83

922 -0.59 -145.9 2706 2693 3977 3857 157.1 -14.4 110 925 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2693 3916 3975 3858 0 0 0 0 0 0 28.83 28.83 28.83

1223 -0.64 -145.9 2706 2693 3976 3858 196.3 -12.3 140 1232 0.00 2.35 0.00 0.000 516 0.000 0.078 2706 1303 3916 3975 3857 0 0 0 0 0 0 28.83 14.45 28.83

1256 -0.73 -145.9 2706 1304 3976 3858 200.2 -11.6 146 1264 0.00 2.50 0.00 0.000 1030 0.000 0.106 2696 2707 3916 3975 3857 0 0 0 0 0 0 28.83 14.44 28.83

1569 -0.80 -145.9 2696 2707 3976 3857 236.7 -11.4 178 1578 0.12 1.92 0.00 0.000 4356 0.144 0.110 2634 3794 3915 3974 3857 0 0 0 0 0 0 14.49 14.42 28.83

1687 -0.72 -145.9 2635 3794 3974 3858 255.7 -17.1 201 1696 0.10 1.85 0.00 0.000 3078 0.262 0.064 2673 2696 3915 3973 3857 0 0 0 0 0 0 14.37 14.50 28.83

1992 -0.72 -145.9 2674 2696 3974 3857 293.8 -12.1 212 1994 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2696 3915 3973 3857 0 0 0 0 0 0 28.83 28.83 28.83

2292 -0.77 -145.9 2674 2697 3973 3858 330.0 -12.1 222 2299 0.00 1.92 0.00 0.000 260 0.000 0.114 2666 3788 3914 3972 3857 0 0 0 0 0 0 28.83 14.50 28.83

2368 -0.77 -145.9 2667 3788 3972 3857 340.1 -13.2 237 2376 0.00 1.83 0.00 0.000 1030 0.000 0.065 2666 2699 3914 3971 3857 0 0 0 0 0 0 28.83 14.55 28.83

2685 -0.77 -145.9 2667 2700 3972 3857 379.4 -12.3 250 2688 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2699 3911 3971 3852 0 0 0 0 0 0 28.83 28.83 28.83

2985 -0.77 -145.9 2667 2700 3972 3858 415.5 -12.0 260 2994 0.00 1.92 0.00 0.000 260 0.000 0.114 2657 3795 3913 3970 3857 0 0 0 0 0 0 28.83 14.53 28.83

3093 -0.77 -145.9 2659 3796 3970 3858 430.0 -13.6 281 3101 0.00 1.85 0.00 0.000 1030 0.000 0.064 2658 2693 3913 3970 3856 0 0 0 0 0 0 28.83 14.58 28.83

3410 -0.77 -145.9 2659 2693 3970 3858 469.6 -12.4 294 3418 0.00 1.92 0.00 0.000 260 0.000 0.114 2649 3788 3912 3968 3856 0 0 0 0 0 0 28.83 14.52 28.83

3476 -0.77 -145.9 2650 3788 3970 3858 478.6 -13.4 307 3484 0.00 1.83 0.00 0.000 1030 0.000 0.064 2649 2700 3913 3969 3857 0 0 0 0 0 0 28.83 14.58 28.83

3654 end dive: TARGET_DEPTH_EXCEEDED

state 3654 begin apogee

3657 -0.13 0.0 2649 2854 3970 3857 501.4 -12.9 317 3807 0.80 0.00 137.15 2.682 10246 0.248 0.000 2858 2856 3317 3339 3295 0 0 0 0 1 0 14.45 28.83 12.66

3810 end apogee: CONTROL_FINISHED_OK

state 3810 begin climb

3811 0.70 145.9 2859 2855 3346 3298 506.5 0.0 322 3952 0.93 1.83 127.60 1.644 10500 0.141 0.109 3131 3783 2716 2724 2709 0 0 0 0 0 0 13.69 13.54 12.97

4036 0.55 145.9 3131 3783 2722 2700 488.3 15.1 360 4045 0.15 1.65 0.00 0.000 5126 0.274 0.063 3091 2843 2710 2721 2699 0 0 0 0 0 0 13.74 13.88 28.83

4359 0.56 166.5 3092 2842 2720 2698 452.3 10.8 374 4386 0.00 2.47 18.17 1.644 8708 0.000 0.079 3099 1442 2630 2642 2619 0 0 0 0 0 0 28.83 14.02 13.45

4425 0.62 187.5 3100 1441 2641 2615 445.1 10.8 386 4452 0.00 2.55 18.70 1.515 9222 0.000 0.102 3099 2836 2547 2559 2536 0 0 0 0 0 0 28.83 14.07 13.45

4761 0.62 187.5 3100 2832 2555 2526 403.1 12.5 402 4769 0.00 2.42 0.00 0.000 516 0.000 0.077 3109 1442 2539 2554 2525 0 0 0 0 0 0 28.83 14.23 28.83

4807 0.63 193.1 3110 1442 2555 2525 397.4 11.6 411 4816 0.00 2.53 1.38 0.251 9222 0.000 0.101 3110 2845 2527 2542 2512 0 0 0 0 0 0 28.83 14.20 14.14

5125 0.63 193.1 3110 2845 2561 2522 355.2 13.3 424 5135 0.00 2.42 1.05 0.268 8708 0.000 0.075 3118 1440 2529 2548 2510 0 0 0 0 0 0 28.83 14.35 14.28

5184 0.63 193.1 3120 1440 2557 2514 347.7 12.4 435 5194 0.00 2.50 0.00 0.000 1030 0.000 0.101 3119 2847 2536 2557 2516 0 0 0 0 0 0 28.83 14.35 28.83

5489 0.63 193.1 3120 2843 2562 2518 306.2 13.6 446 5498 0.00 2.42 1.10 0.265 8708 0.000 0.075 3126 1434 2528 2549 2508 0 0 0 0 0 0 28.83 14.37 14.28

5526 0.63 193.1 3126 1435 2558 2517 301.4 12.7 453 5534 0.00 2.50 0.00 0.000 1030 0.000 0.100 3126 2837 2537 2558 2516 0 0 0 0 0 0 28.83 14.35 28.83

5854 0.59 193.1 3126 2837 2563 2517 256.9 13.5 468 5863 0.00 2.40 1.15 0.262 8708 0.000 0.073 3133 1436 2528 2548 2508 0 0 0 0 0 0 28.83 14.37 14.30

5892 0.59 196.4 3134 1440 2558 2516 252.0 11.7 475 5908 0.15 2.50 3.55 1.216 13318 0.262 0.099 3102 2844 2521 2542 2501 0 0 0 0 0 0 14.28 14.35 13.50

6212 0.59 205.1 3102 2844 2553 2507 215.0 11.4 509 6232 0.00 2.45 12.75 1.493 8708 0.000 0.076 3110 1436 2475 2489 2461 0 0 0 0 0 0 28.83 14.26 13.69

6281 0.68 230.3 3112 1437 2488 2461 207.7 10.5 522 6311 0.00 2.53 22.40 1.438 9222 0.000 0.101 3110 2842 2373 2378 2369 0 0 0 0 0 0 28.83 14.26 13.61

6615 0.74 249.8 3111 2843 2380 2361 169.2 10.8 557 6645 0.12 2.45 18.02 1.311 10756 0.139 0.076 3178 1445 2288 2292 2285 0 0 0 0 0 0 14.29 14.14 13.69

6768 0.74 249.8 3179 1446 2292 2283 150.4 12.2 586 6778 0.00 2.53 0.00 0.000 1030 0.000 0.101 3178 2843 2286 2292 2281 0 0 0 0 0 0 28.83 14.22 28.83

7074 0.69 249.8 3179 2845 2293 2282 111.7 12.1 617 7082 0.17 2.42 0.00 0.000 4612 0.278 0.079 3148 1447 2284 2287 2281 0 0 0 0 0 0 14.24 14.35 28.83

7151 0.81 310.0 3149 1442 2294 2280 104.5 8.6 632 7215 0.00 2.50 50.50 1.170 9222 0.000 0.103 3148 2841 2041 2041 2042 0 0 0 0 0 0 28.83 14.35 13.68

7509 0.91 341.3 3149 2842 2042 2032 67.3 10.2 671 7531 0.15 2.45 13.18 0.383 10756 0.129 0.080 3213 1439 1925 1919 1931 0 0 0 0 0 0 14.33 14.26 14.11

7630 0.92 356.1 3213 1439 1931 1931 53.0 11.1 694 7645 0.00 2.53 7.62 0.343 9222 0.000 0.101 3213 2842 1864 1858 1871 0 0 0 0 0 0 28.83 14.31 14.12

7950 0.95 410.0 3213 2842 1873 1872 20.6 9.0 727 7984 0.00 0.00 25.10 0.249 8198 0.000 0.000 3212 2842 1643 1636 1650 0 0 0 0 0 0 28.83 28.83 14.23

8218 end climb: NO_VERTICAL_VELOCITY

state 8219 begin surface

ID	196	ESCAPE_HEADING	0	C_ROLL_CLIMB	2840	ALTIM_FREQUENCY	13
MISSION	7	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	18	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	2
D_SURF	2	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	40	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	19	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	681.01007	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.75
D_ABORT	600	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	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	0	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	3317	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	140	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	180	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	5	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-4696.7109	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	0	RAFOS_PEAK_OFFSET	1.5	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	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	2909	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	10	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	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	400
HEADING	-1	C_ROLL_DIVE	2700	ALTIM_PING_DELTA	20

GPS1	290714,022154,7055.318,-14427.868,36,0.7,56,22.3	SPEED_LIMITS	0.206,0.254
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.36	MHEAD_RNG_PITCHd_Wd	339.0,76203,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-78.6	D_GRID	1000
GPS2	290714,023210,7055.249,-14428.020,5,0.8,25,22.3

FREEZE	11.81,2.778,-1.466,0,1,0	_10V_AH	12.69,0.000
SM_CCo	8222,127.10,0.218,0,0,498,691.50	FG_AHR_24Vo	0.000
SM_GC	1.49,9.18,0.22,0.00,0.084,0.096,0.000,202,2697,496,-8.41,1.16,691.75,0,0,0,0,0,0,14.37,14.40,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	156	MEM	307104
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26736,754
IRIDIUM_FIX	7026.32,-14434.62,280714,235232	CAP_FILE_SIZE	130600,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2088697856
HUMID	45.35	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.5628	INTR	0,9181.21,0x2378b6,7,5
TCM_TEMP	12.30	SOUNDSPEED	1449.1
XPDR_PINGS	5	EKF	8598,4256.376465,-8667.593750,11.809597,0.010554,-0.034580,0.008326,0.000126,0.001176,0.000099,0.001025,0.001025,0.000050
SC_FREEKB	3930080	CURRENT	0.080,154.85,1
TM_FREEKB	7731704	GPS	290714,045543,7056.042,-14427.131,14,0.8,34,22.3
_24V_AH	12.66,7.210

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	401	123.05	nil	0	0	0.00
Roll_motor	77	123	121.12	nil	0	0	0.00
VBD_pump_during_apogee	459	2682	15599.90	nil	0	0	0.00
VBD_pump_during_surface	127	218	350.82	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	8242	15	1568.70
Iridium_during_xfer	389	183	904.59	TMICL	8290	13	1395.64
Transponder_ping	2	420	14.62	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.08
TT8	0	0	0.00
LPSleep	6098	2	178.77
TT8_Active	771	9	92.69
TT8_Sampling	2204	28	809.92
TT8_CF8	72	35	32.78
TT8_Kalman	0	0	0.00
Analog_circuits	1847	10	234.48
GPS_charging	0	0	0.00
Compass	1116	0	10.63
RAFOS	1474	48	897.84
Transponder	13	30	5.01

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.70	-145.9	205	2701	495	590	0.0	0.0	0	83	0.00	0.00	-63.17	0.000	16386	0.000	0.000	204	2701	2170	2175	2166	0	0	0	0	0	0	28.83	28.83	28.83
85	-0.70	-145.9	211	2701	2176	2162	3.0	-3.4	6	135	12.10	2.47	-31.35	0.000	18948	0.402	0.096	2673	1298	3914	3976	3853	0	0	0	0	0	0	14.07	14.27	14.46
254	-0.59	-145.9	2674	1298	3977	3856	45.7	-24.0	37	263	0.22	2.50	0.00	0.000	3078	0.298	0.102	2710	2698	3916	3976	3856	0	0	0	0	0	0	14.18	14.30	28.83
558	-0.59	-145.9	2713	2696	3977	3858	100.6	-16.2	68	568	0.00	1.92	0.00	0.000	260	0.000	0.110	2706	3789	3916	3976	3857	0	0	0	0	0	0	28.83	14.37	28.83
617	-0.59	-145.9	2707	3790	3976	3859	110.9	-18.0	79	626	0.00	1.85	0.00	0.000	1030	0.000	0.061	2706	2693	3915	3973	3857	0	0	0	0	0	0	28.83	14.43	28.83
922	-0.59	-145.9	2706	2693	3977	3857	157.1	-14.4	110	925	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2693	3916	3975	3858	0	0	0	0	0	0	28.83	28.83	28.83
1223	-0.64	-145.9	2706	2693	3976	3858	196.3	-12.3	140	1232	0.00	2.35	0.00	0.000	516	0.000	0.078	2706	1303	3916	3975	3857	0	0	0	0	0	0	28.83	14.45	28.83
1256	-0.73	-145.9	2706	1304	3976	3858	200.2	-11.6	146	1264	0.00	2.50	0.00	0.000	1030	0.000	0.106	2696	2707	3916	3975	3857	0	0	0	0	0	0	28.83	14.44	28.83
1569	-0.80	-145.9	2696	2707	3976	3857	236.7	-11.4	178	1578	0.12	1.92	0.00	0.000	4356	0.144	0.110	2634	3794	3915	3974	3857	0	0	0	0	0	0	14.49	14.42	28.83
1687	-0.72	-145.9	2635	3794	3974	3858	255.7	-17.1	201	1696	0.10	1.85	0.00	0.000	3078	0.262	0.064	2673	2696	3915	3973	3857	0	0	0	0	0	0	14.37	14.50	28.83
1992	-0.72	-145.9	2674	2696	3974	3857	293.8	-12.1	212	1994	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2696	3915	3973	3857	0	0	0	0	0	0	28.83	28.83	28.83
2292	-0.77	-145.9	2674	2697	3973	3858	330.0	-12.1	222	2299	0.00	1.92	0.00	0.000	260	0.000	0.114	2666	3788	3914	3972	3857	0	0	0	0	0	0	28.83	14.50	28.83
2368	-0.77	-145.9	2667	3788	3972	3857	340.1	-13.2	237	2376	0.00	1.83	0.00	0.000	1030	0.000	0.065	2666	2699	3914	3971	3857	0	0	0	0	0	0	28.83	14.55	28.83
2685	-0.77	-145.9	2667	2700	3972	3857	379.4	-12.3	250	2688	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2699	3911	3971	3852	0	0	0	0	0	0	28.83	28.83	28.83
2985	-0.77	-145.9	2667	2700	3972	3858	415.5	-12.0	260	2994	0.00	1.92	0.00	0.000	260	0.000	0.114	2657	3795	3913	3970	3857	0	0	0	0	0	0	28.83	14.53	28.83
3093	-0.77	-145.9	2659	3796	3970	3858	430.0	-13.6	281	3101	0.00	1.85	0.00	0.000	1030	0.000	0.064	2658	2693	3913	3970	3856	0	0	0	0	0	0	28.83	14.58	28.83
3410	-0.77	-145.9	2659	2693	3970	3858	469.6	-12.4	294	3418	0.00	1.92	0.00	0.000	260	0.000	0.114	2649	3788	3912	3968	3856	0	0	0	0	0	0	28.83	14.52	28.83
3476	-0.77	-145.9	2650	3788	3970	3858	478.6	-13.4	307	3484	0.00	1.83	0.00	0.000	1030	0.000	0.064	2649	2700	3913	3969	3857	0	0	0	0	0	0	28.83	14.58	28.83
3654	end dive: TARGET_DEPTH_EXCEEDED
state	3654	begin apogee
3657	-0.13	0.0	2649	2854	3970	3857	501.4	-12.9	317	3807	0.80	0.00	137.15	2.682	10246	0.248	0.000	2858	2856	3317	3339	3295	0	0	0	0	1	0	14.45	28.83	12.66
3810	end apogee: CONTROL_FINISHED_OK
state	3810	begin climb
3811	0.70	145.9	2859	2855	3346	3298	506.5	0.0	322	3952	0.93	1.83	127.60	1.644	10500	0.141	0.109	3131	3783	2716	2724	2709	0	0	0	0	0	0	13.69	13.54	12.97
4036	0.55	145.9	3131	3783	2722	2700	488.3	15.1	360	4045	0.15	1.65	0.00	0.000	5126	0.274	0.063	3091	2843	2710	2721	2699	0	0	0	0	0	0	13.74	13.88	28.83
4359	0.56	166.5	3092	2842	2720	2698	452.3	10.8	374	4386	0.00	2.47	18.17	1.644	8708	0.000	0.079	3099	1442	2630	2642	2619	0	0	0	0	0	0	28.83	14.02	13.45
4425	0.62	187.5	3100	1441	2641	2615	445.1	10.8	386	4452	0.00	2.55	18.70	1.515	9222	0.000	0.102	3099	2836	2547	2559	2536	0	0	0	0	0	0	28.83	14.07	13.45
4761	0.62	187.5	3100	2832	2555	2526	403.1	12.5	402	4769	0.00	2.42	0.00	0.000	516	0.000	0.077	3109	1442	2539	2554	2525	0	0	0	0	0	0	28.83	14.23	28.83
4807	0.63	193.1	3110	1442	2555	2525	397.4	11.6	411	4816	0.00	2.53	1.38	0.251	9222	0.000	0.101	3110	2845	2527	2542	2512	0	0	0	0	0	0	28.83	14.20	14.14
5125	0.63	193.1	3110	2845	2561	2522	355.2	13.3	424	5135	0.00	2.42	1.05	0.268	8708	0.000	0.075	3118	1440	2529	2548	2510	0	0	0	0	0	0	28.83	14.35	14.28
5184	0.63	193.1	3120	1440	2557	2514	347.7	12.4	435	5194	0.00	2.50	0.00	0.000	1030	0.000	0.101	3119	2847	2536	2557	2516	0	0	0	0	0	0	28.83	14.35	28.83
5489	0.63	193.1	3120	2843	2562	2518	306.2	13.6	446	5498	0.00	2.42	1.10	0.265	8708	0.000	0.075	3126	1434	2528	2549	2508	0	0	0	0	0	0	28.83	14.37	14.28
5526	0.63	193.1	3126	1435	2558	2517	301.4	12.7	453	5534	0.00	2.50	0.00	0.000	1030	0.000	0.100	3126	2837	2537	2558	2516	0	0	0	0	0	0	28.83	14.35	28.83
5854	0.59	193.1	3126	2837	2563	2517	256.9	13.5	468	5863	0.00	2.40	1.15	0.262	8708	0.000	0.073	3133	1436	2528	2548	2508	0	0	0	0	0	0	28.83	14.37	14.30
5892	0.59	196.4	3134	1440	2558	2516	252.0	11.7	475	5908	0.15	2.50	3.55	1.216	13318	0.262	0.099	3102	2844	2521	2542	2501	0	0	0	0	0	0	14.28	14.35	13.50
6212	0.59	205.1	3102	2844	2553	2507	215.0	11.4	509	6232	0.00	2.45	12.75	1.493	8708	0.000	0.076	3110	1436	2475	2489	2461	0	0	0	0	0	0	28.83	14.26	13.69
6281	0.68	230.3	3112	1437	2488	2461	207.7	10.5	522	6311	0.00	2.53	22.40	1.438	9222	0.000	0.101	3110	2842	2373	2378	2369	0	0	0	0	0	0	28.83	14.26	13.61
6615	0.74	249.8	3111	2843	2380	2361	169.2	10.8	557	6645	0.12	2.45	18.02	1.311	10756	0.139	0.076	3178	1445	2288	2292	2285	0	0	0	0	0	0	14.29	14.14	13.69
6768	0.74	249.8	3179	1446	2292	2283	150.4	12.2	586	6778	0.00	2.53	0.00	0.000	1030	0.000	0.101	3178	2843	2286	2292	2281	0	0	0	0	0	0	28.83	14.22	28.83
7074	0.69	249.8	3179	2845	2293	2282	111.7	12.1	617	7082	0.17	2.42	0.00	0.000	4612	0.278	0.079	3148	1447	2284	2287	2281	0	0	0	0	0	0	14.24	14.35	28.83
7151	0.81	310.0	3149	1442	2294	2280	104.5	8.6	632	7215	0.00	2.50	50.50	1.170	9222	0.000	0.103	3148	2841	2041	2041	2042	0	0	0	0	0	0	28.83	14.35	13.68
7509	0.91	341.3	3149	2842	2042	2032	67.3	10.2	671	7531	0.15	2.45	13.18	0.383	10756	0.129	0.080	3213	1439	1925	1919	1931	0	0	0	0	0	0	14.33	14.26	14.11
7630	0.92	356.1	3213	1439	1931	1931	53.0	11.1	694	7645	0.00	2.53	7.62	0.343	9222	0.000	0.101	3213	2842	1864	1858	1871	0	0	0	0	0	0	28.83	14.31	14.12
7950	0.95	410.0	3213	2842	1873	1872	20.6	9.0	727	7984	0.00	0.00	25.10	0.249	8198	0.000	0.000	3212	2842	1643	1636	1650	0	0	0	0	0	0	28.83	28.83	14.23
8218	end climb: NO_VERTICAL_VELOCITY
state	8219	begin surface