Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 206 * 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 206 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 48 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 34 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 -5272.582 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 -5272.582

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 48 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 34 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 206 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 240814,184218,7305.597,-14456.141,35,0.8,55,22.8 SPEED_LIMITS 0.201,0.252

_CALLS 1 TGT_NAME 6

_XMS_NAKs 0 TGT_LATLONG 7330.000,-14510.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.75 MHEAD_RNG_PITCHd_Wd 328.2,45859,-22.3,-11.628,-24.76,1933

_SM_ANGLEo -77.9 D_GRID 1000

GPS2 240814,184952,7305.546,-14456.296,4,0.9,25,22.8

Post-dive calculations and measurements:

FREEZE 0.89,2.212,-1.411,2,1,0 _24V_AH 12.66,61.934

FINISH 0.9,1.020699 _10V_AH 12.78,0.000

SM_CCo 11759,1.45,0.249,0,0,498,676.54 FG_AHR_24Vo 0.000

SM_GC 2.26,9.15,0.00,1.45,0.060,0.000,0.249,196,2743,498,-8.36,-0.48,676.54,0,0,0,0,0,0,14.34,28.83,14.19 FG_AHR_10Vo 0.000

RAFOS_CLK 376 MEM 244624

RAFOS_FIX 7234.998535,-14359.204102,210814,040433,2,255,0.30 DATA_FILE_SIZE 26760,740

IRIDIUM_FIX 7228.39,-14446.59,240814,150841 CAP_FILE_SIZE 122364,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2051670016

HUMID 46.14 ERRORS 0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.57257 INTR 2,11747.13,0x2378b6,7,5

TCM_TEMP 12.60 SOUNDSPEED 1449.3

XPDR_PINGS 3 GPS 240814,220724,7306.935,-14457.601,23,0.8,43,22.8

SC_FREEKB 3846368

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 403 118.92 nil 0 0 0.00

Roll_motor 25 100 32.23 nil 0 0 0.00

VBD_pump_during_apogee 564 1989 14220.82 nil 0 0 0.00

VBD_pump_during_surface 1 249 4.58 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 11793 17 2630.80

Iridium_during_xfer 272 161 557.42 TMICL 0 0 0.00

Transponder_ping 0 420 3.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.16

TT8 0 0 0.00

LPSleep 9637 2 284.51

TT8_Active 606 9 73.36

TT8_Sampling 1817 28 672.60

TT8_CF8 151 35 69.16

TT8_Kalman 0 0 0.00

Analog_circuits 1484 10 189.69

GPS_charging 0 0 0.00

Compass 1109 0 10.63

RAFOS 1491 48 914.64

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 -0.69 -145.9 187 2775 433 546 0.0 0.0 0 90 0.00 0.00 -72.30 0.000 16386 0.000 0.000 183 2775 2353 2361 2346 0 0 0 0 0 0 28.83 28.83 28.83

92 -0.69 -145.9 187 2773 2362 2347 4.5 -5.9 7 136 12.25 2.42 -25.35 0.000 18948 0.403 0.088 2664 1357 3857 3919 3796 0 0 0 0 0 0 14.01 14.23 14.47

230 -0.69 -145.9 2665 1357 3920 3800 49.9 -26.1 35 236 0.00 2.50 0.00 0.000 1030 0.000 0.096 2655 2753 3859 3919 3800 0 0 0 0 0 0 28.83 14.24 28.83

540 -0.69 -145.9 2657 2755 3919 3802 122.5 -21.9 67 546 0.00 1.85 0.00 0.000 260 0.000 0.100 2647 3786 3859 3918 3801 0 0 0 0 0 0 28.83 14.34 28.83

695 -0.69 -145.9 2648 3786 3920 3801 157.1 -22.2 98 702 0.00 1.73 0.00 0.000 1030 0.000 0.053 2646 2745 3860 3919 3801 0 0 0 0 0 0 28.83 14.41 28.83

1000 -0.69 -145.9 2653 2746 3920 3801 216.1 -17.8 129 1001 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2746 3860 3919 3801 0 0 0 0 0 0 28.83 28.83 28.83

1320 -0.69 -145.9 2648 2746 3920 3802 269.4 -16.0 153 1321 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2746 3860 3919 3801 0 0 0 0 0 0 28.83 28.83 28.83

1620 -0.69 -145.9 2648 2746 3920 3801 315.0 -14.9 163 1621 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2745 3860 3919 3801 0 0 0 0 0 0 28.83 28.83 28.83

1920 -0.69 -145.9 2648 2746 3920 3801 358.6 -14.3 173 1921 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2746 3860 3919 3801 0 0 0 0 0 0 28.83 28.83 28.83

2220 -0.69 -145.9 2648 2746 3919 3802 401.0 -14.0 183 2221 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2745 3859 3918 3801 0 0 0 0 0 0 28.83 28.83 28.83

2520 -0.69 -145.9 2648 2746 3920 3801 442.4 -13.8 193 2521 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2746 3860 3919 3801 0 0 0 0 0 0 28.83 28.83 28.83

2820 -0.69 -145.9 2648 2746 3919 3800 483.5 -13.6 203 2821 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2746 3860 3919 3801 0 0 0 0 0 0 28.83 28.83 28.83

3120 -0.69 -145.9 2648 2746 3919 3802 523.8 -13.4 213 3121 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2745 3859 3918 3800 0 0 0 0 0 0 28.83 28.83 28.83

3420 -0.69 -145.9 2648 2746 3919 3802 563.7 -13.2 223 3421 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2745 3859 3918 3801 0 0 0 0 0 0 28.83 28.83 28.83

3720 -0.69 -145.9 2649 2746 3919 3802 603.4 -13.1 233 3721 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2746 3860 3919 3801 0 0 0 0 0 0 28.83 28.83 28.83

4020 -0.69 -145.9 2648 2745 3920 3801 642.8 -13.1 243 4021 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2745 3860 3919 3801 0 0 0 0 0 0 28.83 28.83 28.83

4321 -0.69 -145.9 2648 2746 3920 3801 681.4 -12.9 253 4322 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2745 3860 3919 3801 0 0 0 0 0 0 28.83 28.83 28.83

4621 -0.69 -145.9 2648 2746 3920 3802 719.7 -12.7 263 4621 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2745 3858 3917 3800 0 0 0 0 0 0 28.83 28.83 28.83

4859 end dive: TARGET_DEPTH_EXCEEDED

state 4859 begin apogee

4863 -0.13 0.0 2648 2745 3920 3800 750.2 -12.6 271 4992 0.73 0.00 126.15 1.989 10244 0.236 0.000 2839 2745 3253 3274 3232 0 0 0 0 0 0 14.35 28.83 13.07

4993 end apogee: CONTROL_FINISHED_OK

state 4993 begin climb

4995 0.69 145.9 2844 2746 3272 3235 753.8 0.0 275 5127 0.88 0.00 123.40 1.826 11270 0.131 0.000 3105 2746 2659 2667 2652 0 0 0 0 0 0 13.73 28.83 12.66

5432 0.69 145.9 3107 2745 2668 2646 707.9 12.9 315 5432 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2745 2656 2667 2646 0 0 0 0 0 0 28.83 28.83 28.83

5732 0.69 145.9 3106 2747 2668 2646 669.9 12.7 325 5732 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2745 2656 2667 2645 0 0 0 0 0 0 28.83 28.83 28.83

6032 0.69 145.9 3106 2745 2669 2645 632.0 12.6 335 6037 0.00 1.88 0.00 0.000 260 0.000 0.098 3106 3792 2656 2667 2645 0 0 0 0 0 0 28.83 14.35 28.83

6061 0.69 145.9 3106 3792 2668 2644 627.8 14.3 341 6067 0.00 1.75 0.00 0.000 1030 0.000 0.053 3112 2742 2655 2667 2644 0 0 0 0 0 0 28.83 14.42 28.83

6392 0.69 145.9 3113 2742 2668 2645 585.0 12.9 357 6393 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2742 2655 2667 2644 0 0 0 0 0 0 28.83 28.83 28.83

6692 0.69 145.9 3112 2742 2668 2644 546.6 12.8 367 6692 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2742 2655 2667 2644 0 0 0 0 0 0 28.83 28.83 28.83

6992 0.69 145.9 3112 2742 2667 2644 508.6 12.6 377 6992 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2742 2655 2667 2644 0 0 0 0 0 0 28.83 28.83 28.83

7292 0.69 145.9 3113 2743 2668 2645 471.1 12.5 387 7293 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2742 2655 2667 2644 0 0 0 0 0 0 28.83 28.83 28.83

7592 0.69 145.9 3113 2742 2668 2644 433.8 12.5 397 7592 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2742 2655 2667 2644 0 0 0 0 0 0 28.83 28.83 28.83

7892 0.69 145.9 3113 2743 2668 2645 396.6 12.3 407 7892 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2742 2655 2667 2644 0 0 0 0 0 0 28.83 28.83 28.83

8192 0.69 145.9 3112 2742 2669 2642 360.6 11.9 417 8192 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2742 2655 2667 2644 0 0 0 0 0 0 28.83 28.83 28.83

8492 0.69 145.9 3113 2743 2668 2645 325.0 11.8 427 8493 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2742 2655 2667 2644 0 0 0 0 0 0 28.83 28.83 28.83

8792 0.70 153.3 3112 2742 2668 2644 291.0 11.2 437 8797 0.00 0.00 4.43 1.341 8198 0.000 0.000 3112 2742 2635 2647 2624 0 0 0 0 0 0 28.83 28.83 13.95

9092 0.71 176.5 3112 2742 2662 2625 258.7 10.4 447 9116 0.00 0.00 23.17 1.284 8198 0.000 0.000 3112 2742 2537 2547 2527 0 0 0 0 0 0 28.83 28.83 13.92

9392 0.73 202.8 3113 2743 2544 2519 227.1 10.2 471 9418 0.00 2.38 22.15 1.256 8708 0.000 0.063 3123 1343 2426 2434 2419 0 0 0 0 0 0 28.83 14.40 13.82

9453 0.76 248.2 3123 1343 2433 2414 221.1 9.2 483 9495 0.00 2.47 37.90 1.254 9222 0.000 0.092 3123 2745 2245 2246 2245 0 0 0 0 0 0 28.83 14.35 13.64

9792 0.78 276.8 3123 2745 2244 2230 184.1 10.1 521 9818 0.00 0.00 24.33 1.252 8198 0.000 0.000 3123 2745 2129 2133 2125 0 0 0 0 0 0 28.83 28.83 13.69

10114 0.80 302.5 3123 2746 2131 2113 150.5 10.3 553 10137 0.00 0.00 22.25 1.225 8198 0.000 0.000 3123 2745 2023 2029 2018 0 0 0 0 0 0 28.83 28.83 13.71

10434 0.83 346.0 3124 2745 2026 2004 118.4 9.3 585 10474 0.12 0.00 34.83 1.214 10246 0.129 0.000 3177 2745 1839 1839 1839 0 0 0 0 0 0 14.40 28.83 13.64

10772 0.83 346.0 3178 2745 1840 1831 74.7 11.8 619 10778 0.00 2.40 0.00 0.000 516 0.000 0.070 3178 1346 1834 1839 1829 0 0 0 0 0 0 28.83 14.28 28.83

10837 0.86 385.5 3179 1349 1838 1829 68.1 9.5 632 10859 0.00 2.47 16.48 0.391 9222 0.000 0.093 3177 2739 1686 1689 1683 0 0 0 0 0 0 28.83 14.24 14.03

11163 0.92 477.1 3179 2744 1697 1679 39.8 6.8 667 11209 0.00 1.85 41.33 0.321 8452 0.000 0.097 3178 3781 1312 1323 1301 0 0 0 0 0 0 28.83 14.23 14.04

11239 0.95 520.0 3178 3782 1325 1301 33.8 9.3 682 11265 0.00 1.70 19.67 0.305 9222 0.000 0.052 3181 2743 1137 1145 1129 0 0 0 0 0 0 28.83 14.29 14.05

11564 1.06 671.9 3183 2744 1147 1117 14.7 3.5 717 11636 0.17 0.00 68.68 0.238 10758 0.112 0.000 3254 2744 516 467 565 0 0 0 0 0 0 14.33 28.83 14.09

11722 end climb: SURFACE_DEPTH_REACHED

state 11722 begin surface coast

11742 end surface coast: CONTROL_FINISHED_OK

state 11744 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	206	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	48	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	34	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	-5272.582	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	240814,184218,7305.597,-14456.141,35,0.8,55,22.8	SPEED_LIMITS	0.201,0.252
_CALLS	1	TGT_NAME	6
_XMS_NAKs	0	TGT_LATLONG	7330.000,-14510.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.75	MHEAD_RNG_PITCHd_Wd	328.2,45859,-22.3,-11.628,-24.76,1933
_SM_ANGLEo	-77.9	D_GRID	1000
GPS2	240814,184952,7305.546,-14456.296,4,0.9,25,22.8

FREEZE	0.89,2.212,-1.411,2,1,0	_24V_AH	12.66,61.934
FINISH	0.9,1.020699	_10V_AH	12.78,0.000
SM_CCo	11759,1.45,0.249,0,0,498,676.54	FG_AHR_24Vo	0.000
SM_GC	2.26,9.15,0.00,1.45,0.060,0.000,0.249,196,2743,498,-8.36,-0.48,676.54,0,0,0,0,0,0,14.34,28.83,14.19	FG_AHR_10Vo	0.000
RAFOS_CLK	376	MEM	244624
RAFOS_FIX	7234.998535,-14359.204102,210814,040433,2,255,0.30	DATA_FILE_SIZE	26760,740
IRIDIUM_FIX	7228.39,-14446.59,240814,150841	CAP_FILE_SIZE	122364,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2051670016
HUMID	46.14	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.57257	INTR	2,11747.13,0x2378b6,7,5
TCM_TEMP	12.60	SOUNDSPEED	1449.3
XPDR_PINGS	3	GPS	240814,220724,7306.935,-14457.601,23,0.8,43,22.8
SC_FREEKB	3846368

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	403	118.92	nil	0	0	0.00
Roll_motor	25	100	32.23	nil	0	0	0.00
VBD_pump_during_apogee	564	1989	14220.82	nil	0	0	0.00
VBD_pump_during_surface	1	249	4.58	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	11793	17	2630.80
Iridium_during_xfer	272	161	557.42	TMICL	0	0	0.00
Transponder_ping	0	420	3.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.16
TT8	0	0	0.00
LPSleep	9637	2	284.51
TT8_Active	606	9	73.36
TT8_Sampling	1817	28	672.60
TT8_CF8	151	35	69.16
TT8_Kalman	0	0	0.00
Analog_circuits	1484	10	189.69
GPS_charging	0	0	0.00
Compass	1109	0	10.63
RAFOS	1491	48	914.64
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	-0.69	-145.9	187	2775	433	546	0.0	0.0	0	90	0.00	0.00	-72.30	0.000	16386	0.000	0.000	183	2775	2353	2361	2346	0	0	0	0	0	0	28.83	28.83	28.83
92	-0.69	-145.9	187	2773	2362	2347	4.5	-5.9	7	136	12.25	2.42	-25.35	0.000	18948	0.403	0.088	2664	1357	3857	3919	3796	0	0	0	0	0	0	14.01	14.23	14.47
230	-0.69	-145.9	2665	1357	3920	3800	49.9	-26.1	35	236	0.00	2.50	0.00	0.000	1030	0.000	0.096	2655	2753	3859	3919	3800	0	0	0	0	0	0	28.83	14.24	28.83
540	-0.69	-145.9	2657	2755	3919	3802	122.5	-21.9	67	546	0.00	1.85	0.00	0.000	260	0.000	0.100	2647	3786	3859	3918	3801	0	0	0	0	0	0	28.83	14.34	28.83
695	-0.69	-145.9	2648	3786	3920	3801	157.1	-22.2	98	702	0.00	1.73	0.00	0.000	1030	0.000	0.053	2646	2745	3860	3919	3801	0	0	0	0	0	0	28.83	14.41	28.83
1000	-0.69	-145.9	2653	2746	3920	3801	216.1	-17.8	129	1001	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2746	3860	3919	3801	0	0	0	0	0	0	28.83	28.83	28.83
1320	-0.69	-145.9	2648	2746	3920	3802	269.4	-16.0	153	1321	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2746	3860	3919	3801	0	0	0	0	0	0	28.83	28.83	28.83
1620	-0.69	-145.9	2648	2746	3920	3801	315.0	-14.9	163	1621	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2745	3860	3919	3801	0	0	0	0	0	0	28.83	28.83	28.83
1920	-0.69	-145.9	2648	2746	3920	3801	358.6	-14.3	173	1921	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2746	3860	3919	3801	0	0	0	0	0	0	28.83	28.83	28.83
2220	-0.69	-145.9	2648	2746	3919	3802	401.0	-14.0	183	2221	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2745	3859	3918	3801	0	0	0	0	0	0	28.83	28.83	28.83
2520	-0.69	-145.9	2648	2746	3920	3801	442.4	-13.8	193	2521	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2746	3860	3919	3801	0	0	0	0	0	0	28.83	28.83	28.83
2820	-0.69	-145.9	2648	2746	3919	3800	483.5	-13.6	203	2821	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2746	3860	3919	3801	0	0	0	0	0	0	28.83	28.83	28.83
3120	-0.69	-145.9	2648	2746	3919	3802	523.8	-13.4	213	3121	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2745	3859	3918	3800	0	0	0	0	0	0	28.83	28.83	28.83
3420	-0.69	-145.9	2648	2746	3919	3802	563.7	-13.2	223	3421	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2745	3859	3918	3801	0	0	0	0	0	0	28.83	28.83	28.83
3720	-0.69	-145.9	2649	2746	3919	3802	603.4	-13.1	233	3721	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2746	3860	3919	3801	0	0	0	0	0	0	28.83	28.83	28.83
4020	-0.69	-145.9	2648	2745	3920	3801	642.8	-13.1	243	4021	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2745	3860	3919	3801	0	0	0	0	0	0	28.83	28.83	28.83
4321	-0.69	-145.9	2648	2746	3920	3801	681.4	-12.9	253	4322	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2745	3860	3919	3801	0	0	0	0	0	0	28.83	28.83	28.83
4621	-0.69	-145.9	2648	2746	3920	3802	719.7	-12.7	263	4621	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2745	3858	3917	3800	0	0	0	0	0	0	28.83	28.83	28.83
4859	end dive: TARGET_DEPTH_EXCEEDED
state	4859	begin apogee
4863	-0.13	0.0	2648	2745	3920	3800	750.2	-12.6	271	4992	0.73	0.00	126.15	1.989	10244	0.236	0.000	2839	2745	3253	3274	3232	0	0	0	0	0	0	14.35	28.83	13.07
4993	end apogee: CONTROL_FINISHED_OK
state	4993	begin climb
4995	0.69	145.9	2844	2746	3272	3235	753.8	0.0	275	5127	0.88	0.00	123.40	1.826	11270	0.131	0.000	3105	2746	2659	2667	2652	0	0	0	0	0	0	13.73	28.83	12.66
5432	0.69	145.9	3107	2745	2668	2646	707.9	12.9	315	5432	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2745	2656	2667	2646	0	0	0	0	0	0	28.83	28.83	28.83
5732	0.69	145.9	3106	2747	2668	2646	669.9	12.7	325	5732	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	2745	2656	2667	2645	0	0	0	0	0	0	28.83	28.83	28.83
6032	0.69	145.9	3106	2745	2669	2645	632.0	12.6	335	6037	0.00	1.88	0.00	0.000	260	0.000	0.098	3106	3792	2656	2667	2645	0	0	0	0	0	0	28.83	14.35	28.83
6061	0.69	145.9	3106	3792	2668	2644	627.8	14.3	341	6067	0.00	1.75	0.00	0.000	1030	0.000	0.053	3112	2742	2655	2667	2644	0	0	0	0	0	0	28.83	14.42	28.83
6392	0.69	145.9	3113	2742	2668	2645	585.0	12.9	357	6393	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2742	2655	2667	2644	0	0	0	0	0	0	28.83	28.83	28.83
6692	0.69	145.9	3112	2742	2668	2644	546.6	12.8	367	6692	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2742	2655	2667	2644	0	0	0	0	0	0	28.83	28.83	28.83
6992	0.69	145.9	3112	2742	2667	2644	508.6	12.6	377	6992	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2742	2655	2667	2644	0	0	0	0	0	0	28.83	28.83	28.83
7292	0.69	145.9	3113	2743	2668	2645	471.1	12.5	387	7293	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2742	2655	2667	2644	0	0	0	0	0	0	28.83	28.83	28.83
7592	0.69	145.9	3113	2742	2668	2644	433.8	12.5	397	7592	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2742	2655	2667	2644	0	0	0	0	0	0	28.83	28.83	28.83
7892	0.69	145.9	3113	2743	2668	2645	396.6	12.3	407	7892	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2742	2655	2667	2644	0	0	0	0	0	0	28.83	28.83	28.83
8192	0.69	145.9	3112	2742	2669	2642	360.6	11.9	417	8192	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2742	2655	2667	2644	0	0	0	0	0	0	28.83	28.83	28.83
8492	0.69	145.9	3113	2743	2668	2645	325.0	11.8	427	8493	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2742	2655	2667	2644	0	0	0	0	0	0	28.83	28.83	28.83
8792	0.70	153.3	3112	2742	2668	2644	291.0	11.2	437	8797	0.00	0.00	4.43	1.341	8198	0.000	0.000	3112	2742	2635	2647	2624	0	0	0	0	0	0	28.83	28.83	13.95
9092	0.71	176.5	3112	2742	2662	2625	258.7	10.4	447	9116	0.00	0.00	23.17	1.284	8198	0.000	0.000	3112	2742	2537	2547	2527	0	0	0	0	0	0	28.83	28.83	13.92
9392	0.73	202.8	3113	2743	2544	2519	227.1	10.2	471	9418	0.00	2.38	22.15	1.256	8708	0.000	0.063	3123	1343	2426	2434	2419	0	0	0	0	0	0	28.83	14.40	13.82
9453	0.76	248.2	3123	1343	2433	2414	221.1	9.2	483	9495	0.00	2.47	37.90	1.254	9222	0.000	0.092	3123	2745	2245	2246	2245	0	0	0	0	0	0	28.83	14.35	13.64
9792	0.78	276.8	3123	2745	2244	2230	184.1	10.1	521	9818	0.00	0.00	24.33	1.252	8198	0.000	0.000	3123	2745	2129	2133	2125	0	0	0	0	0	0	28.83	28.83	13.69
10114	0.80	302.5	3123	2746	2131	2113	150.5	10.3	553	10137	0.00	0.00	22.25	1.225	8198	0.000	0.000	3123	2745	2023	2029	2018	0	0	0	0	0	0	28.83	28.83	13.71
10434	0.83	346.0	3124	2745	2026	2004	118.4	9.3	585	10474	0.12	0.00	34.83	1.214	10246	0.129	0.000	3177	2745	1839	1839	1839	0	0	0	0	0	0	14.40	28.83	13.64
10772	0.83	346.0	3178	2745	1840	1831	74.7	11.8	619	10778	0.00	2.40	0.00	0.000	516	0.000	0.070	3178	1346	1834	1839	1829	0	0	0	0	0	0	28.83	14.28	28.83
10837	0.86	385.5	3179	1349	1838	1829	68.1	9.5	632	10859	0.00	2.47	16.48	0.391	9222	0.000	0.093	3177	2739	1686	1689	1683	0	0	0	0	0	0	28.83	14.24	14.03
11163	0.92	477.1	3179	2744	1697	1679	39.8	6.8	667	11209	0.00	1.85	41.33	0.321	8452	0.000	0.097	3178	3781	1312	1323	1301	0	0	0	0	0	0	28.83	14.23	14.04
11239	0.95	520.0	3178	3782	1325	1301	33.8	9.3	682	11265	0.00	1.70	19.67	0.305	9222	0.000	0.052	3181	2743	1137	1145	1129	0	0	0	0	0	0	28.83	14.29	14.05
11564	1.06	671.9	3183	2744	1147	1117	14.7	3.5	717	11636	0.17	0.00	68.68	0.238	10758	0.112	0.000	3254	2744	516	467	565	0	0	0	0	0	0	14.33	28.83	14.09
11722	end climb: SURFACE_DEPTH_REACHED
state	11722	begin surface coast
11742	end surface coast: CONTROL_FINISHED_OK
state	11744	begin surface