Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 227 * 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 227 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 56 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 24 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 -5296.6255 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 -5296.6255

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 56 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 24 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 227 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 270814,163516,7337.101,-14509.733,5,0.8,25,22.8 SPEED_LIMITS 0.201,0.252

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7400.000,-14510.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 2.46 MHEAD_RNG_PITCHd_Wd 337.0,42410,-22.3,-11.628,-24.76,1933

_SM_ANGLEo -10.9 D_GRID 1000

GPS2 270814,163516,7337.101,-14509.733,5,0.8,25,22.8

Post-dive calculations and measurements:

FREEZE 0.71,-0.961,-0.706,2,2,0 _24V_AH 12.69,68.688

FINISH 0.7,1.010377 _10V_AH 12.59,0.000

SM_CCo 11720,2.38,0.230,0,0,499,676.54 FG_AHR_24Vo 0.000

SM_GC 2.75,9.40,0.00,2.38,0.084,0.000,0.230,203,2736,499,-8.36,-0.71,676.54,0,0,0,0,0,0,14.33,28.83,14.17 FG_AHR_10Vo 0.000

RAFOS_CLK 587 MEM 232696

RAFOS_FIX 7324.021484,-14457.928711,260814,121206,2,255,0.38 DATA_FILE_SIZE 26708,746

IRIDIUM_FIX 7257.42,-14515.41,270814,092539 CAP_FILE_SIZE 117333,0

TT8_MAMPS 0.04494,0.04494 CFSIZE 2097872896,2047803392

HUMID 44.84 ERRORS 0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.55303 INTR 2,11707.58,0x2378b6,7,5

TCM_TEMP 12.50 SOUNDSPEED 1448.5

XPDR_PINGS 13 GPS 270814,231554,7340.156,-14507.972,33,0.8,53,22.9

SC_FREEKB 3836960

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 225 35.01 nil 0 0 0.00

Roll_motor 32 102 42.64 nil 0 0 0.00

VBD_pump_during_apogee 571 2003 14527.76 nil 0 0 0.00

VBD_pump_during_surface 2 230 6.94 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 11758 17 2628.91

Iridium_during_xfer 0 0 0.00 TMICL 0 0 0.00

Transponder_ping 3 420 17.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 9603 2 279.31

TT8_Active 557 9 66.51

TT8_Sampling 1561 28 569.08

TT8_CF8 113 35 51.18

TT8_Kalman 0 0 0.00

Analog_circuits 1220 10 153.64

GPS_charging 0 0 0.00

Compass 1123 0 10.61

RAFOS 1461 48 882.91

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 2985 2736 551 599 0.0 0.0 0 77 0.00 0.00 -58.78 0.000 16386 0.000 0.000 2985 2738 2139 2191 2088 0 0 0 0 0 0 28.83 28.83 28.83

79 -0.69 -145.9 2981 2738 2196 2090 3.2 -2.2 6 129 0.93 2.35 -42.17 0.000 20996 0.067 0.090 2657 1369 3856 3922 3790 0 0 0 0 0 0 14.33 14.29 14.51

284 -0.69 -145.9 2658 1368 3923 3795 63.9 -25.4 47 290 0.00 2.50 0.00 0.000 1030 0.000 0.097 2646 2761 3855 3921 3790 0 0 0 0 0 0 28.83 14.26 28.83

589 -0.69 -145.9 2647 2761 3922 3796 134.0 -20.7 78 590 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2761 3858 3922 3794 0 0 0 0 0 0 28.83 28.83 28.83

889 -0.69 -145.9 2647 2762 3922 3796 193.9 -19.0 108 890 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2761 3857 3921 3794 0 0 0 0 0 0 28.83 28.83 28.83

1189 -0.69 -145.9 2647 2761 3922 3795 245.5 -15.9 138 1190 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2761 3857 3921 3794 0 0 0 0 0 0 28.83 28.83 28.83

1489 -0.69 -145.9 2647 2759 3922 3795 291.1 -14.8 150 1490 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2761 3857 3921 3793 0 0 0 0 0 0 28.83 28.83 28.83

1789 -0.69 -145.9 2643 2761 3922 3794 333.8 -14.2 160 1790 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2761 3857 3921 3794 0 0 0 0 0 0 28.83 28.83 28.83

2089 -0.69 -145.9 2647 2761 3923 3795 375.4 -13.8 170 2090 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2761 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

2389 -0.69 -145.9 2647 2761 3922 3794 416.5 -13.6 180 2390 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2761 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

2689 -0.69 -145.9 2646 2761 3922 3795 457.0 -13.4 190 2690 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2761 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

2989 -0.69 -145.9 2647 2761 3922 3794 497.8 -13.7 200 2990 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2761 3857 3921 3794 0 0 0 0 0 0 28.83 28.83 28.83

3289 -0.69 -145.9 2647 2762 3922 3796 537.6 -13.1 210 3290 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2761 3857 3921 3794 0 0 0 0 0 0 28.83 28.83 28.83

3589 -0.69 -145.9 2647 2761 3922 3795 577.0 -13.1 220 3590 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2761 3857 3921 3794 0 0 0 0 0 0 28.83 28.83 28.83

3889 -0.69 -145.9 2647 2761 3922 3795 616.1 -12.9 230 3890 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2761 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

4189 -0.69 -145.9 2647 2760 3922 3795 654.2 -12.7 240 4190 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2761 3857 3921 3794 0 0 0 0 0 0 28.83 28.83 28.83

4489 -0.69 -145.9 2647 2762 3922 3796 691.7 -12.6 250 4494 0.00 1.80 0.00 0.000 260 0.000 0.103 2638 3780 3858 3922 3794 0 0 0 0 0 0 28.83 14.54 28.83

4534 -0.69 -145.9 2639 3781 3922 3796 697.8 -13.5 259 4540 0.10 1.67 0.00 0.000 3078 0.221 0.054 2665 2757 3858 3921 3795 0 0 0 0 0 0 14.43 14.66 28.83

4850 -0.69 -145.9 2666 2756 3922 3795 733.3 -11.1 272 4851 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2756 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

4997 end dive: TARGET_DEPTH_EXCEEDED

state 4998 begin apogee

5002 -0.13 0.0 2666 2756 3922 3795 750.0 -11.1 277 5130 0.68 0.00 125.82 2.004 10244 0.226 0.000 2848 2756 3257 3278 3236 0 0 0 0 0 0 14.45 28.83 13.14

5131 end apogee: CONTROL_FINISHED_OK

state 5131 begin climb

5133 0.69 145.9 2849 2756 3273 3232 753.5 0.0 281 5265 0.85 0.00 123.85 1.829 11270 0.119 0.000 3110 2755 2657 2663 2651 0 0 0 0 0 0 13.79 28.83 12.69

5570 0.69 145.9 3111 2756 2665 2645 708.2 13.3 321 5571 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2756 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

5870 0.69 145.9 3111 2756 2664 2645 668.5 13.2 331 5871 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2757 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

6170 0.69 145.9 3111 2757 2664 2645 629.0 13.1 341 6171 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2756 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

6470 0.69 145.9 3111 2756 2664 2645 590.3 12.9 351 6471 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2756 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

6770 0.69 145.9 3111 2756 2665 2644 551.9 12.8 361 6770 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2755 2653 2663 2643 0 0 0 0 0 0 28.83 28.83 28.83

7070 0.69 145.9 3111 2756 2665 2643 513.9 12.6 371 7070 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2755 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

7370 0.69 145.9 3111 2756 2665 2644 476.4 12.5 381 7370 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2756 2653 2663 2643 0 0 0 0 0 0 28.83 28.83 28.83

7670 0.69 145.9 3111 2756 2664 2644 439.1 12.3 391 7671 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2755 2652 2663 2642 0 0 0 0 0 0 28.83 28.83 28.83

7970 0.69 145.9 3111 2756 2665 2644 402.1 12.2 401 7971 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2755 2653 2663 2643 0 0 0 0 0 0 28.83 28.83 28.83

8270 0.69 145.9 3110 2754 2665 2643 365.6 12.1 411 8275 0.00 2.35 0.00 0.000 516 0.000 0.066 3120 1347 2653 2664 2643 0 0 0 0 0 0 28.83 14.60 28.83

8300 0.70 157.1 3121 1348 2665 2644 362.1 11.0 417 8315 0.00 2.42 9.57 1.427 9222 0.000 0.091 3120 2743 2615 2624 2606 0 0 0 0 0 0 28.83 14.57 13.93

8630 0.70 157.1 3121 2747 2624 2603 321.3 12.1 433 8630 0.00 0.00 0.00 0.000 6 0.000 0.000 3120 2746 2613 2623 2603 0 0 0 0 0 0 28.83 28.83 28.83

8930 0.70 157.1 3121 2747 2624 2603 285.5 12.1 443 8930 0.00 0.00 0.00 0.000 6 0.000 0.000 3120 2746 2613 2623 2603 0 0 0 0 0 0 28.83 28.83 28.83

9230 0.71 172.2 3121 2746 2625 2603 252.3 10.8 453 9245 0.00 0.00 14.02 1.307 8198 0.000 0.000 3120 2746 2554 2562 2546 0 0 0 0 0 0 28.83 28.83 13.93

9530 0.75 226.2 3121 2746 2560 2538 222.2 8.8 481 9581 0.00 2.40 44.30 1.246 8708 0.000 0.067 3125 1352 2331 2333 2329 0 0 0 0 0 0 28.83 14.23 13.71

9602 0.78 267.7 3126 1351 2331 2329 215.5 9.4 495 9643 0.00 2.47 34.85 1.278 9222 0.000 0.092 3125 2743 2164 2164 2165 0 0 0 0 0 0 28.83 14.28 13.57

9941 0.78 276.4 3125 2743 2164 2153 177.4 11.2 533 9952 0.00 0.00 8.00 1.283 8198 0.000 0.000 3125 2743 2127 2133 2121 0 0 0 0 0 0 28.83 28.83 13.76

10251 0.81 314.4 3126 2743 2134 2117 146.1 9.6 564 10293 0.00 2.45 32.65 1.183 8708 0.000 0.069 3125 1355 1969 1968 1970 0 0 0 0 0 0 28.83 14.19 13.69

10328 0.84 360.3 3126 1357 1966 1970 138.9 9.2 579 10374 0.12 2.47 39.75 1.219 11270 0.130 0.093 3181 2742 1784 1781 1788 0 0 0 0 0 0 14.29 14.25 13.54

10672 0.84 360.3 3182 2743 1782 1772 91.0 14.0 618 10673 0.00 0.00 0.00 0.000 6 0.000 0.000 3181 2743 1776 1781 1771 0 0 0 0 0 0 28.83 28.83 28.83

10972 0.86 393.3 3182 2743 1782 1767 56.0 9.9 648 10994 0.00 2.45 13.35 0.357 8708 0.000 0.067 3191 1348 1657 1666 1648 0 0 0 0 0 0 28.83 14.26 14.05

11049 0.92 481.4 3191 1349 1664 1649 50.3 6.9 663 11095 0.00 2.47 39.85 0.338 9222 0.000 0.093 3191 2738 1293 1306 1281 0 0 0 0 0 0 28.83 14.26 14.01

11393 0.98 565.1 3192 2740 1309 1268 22.8 7.2 702 11436 0.00 2.47 37.42 0.269 8708 0.000 0.069 3190 1347 953 955 951 0 0 0 0 0 0 28.83 14.24 14.08

11471 1.06 670.1 3191 1347 957 951 17.8 6.0 717 11527 0.15 2.47 47.95 0.249 11270 0.128 0.091 3248 2736 524 476 573 0 0 0 0 0 0 14.26 14.23 14.03

11685 end climb: SURFACE_DEPTH_REACHED

state 11685 begin surface coast

11704 end surface coast: FINISH_DEPTH_REACHED

state 11704 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	227	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	56	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	24	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	-5296.6255	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	270814,163516,7337.101,-14509.733,5,0.8,25,22.8	SPEED_LIMITS	0.201,0.252
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7400.000,-14510.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	2.46	MHEAD_RNG_PITCHd_Wd	337.0,42410,-22.3,-11.628,-24.76,1933
_SM_ANGLEo	-10.9	D_GRID	1000
GPS2	270814,163516,7337.101,-14509.733,5,0.8,25,22.8

FREEZE	0.71,-0.961,-0.706,2,2,0	_24V_AH	12.69,68.688
FINISH	0.7,1.010377	_10V_AH	12.59,0.000
SM_CCo	11720,2.38,0.230,0,0,499,676.54	FG_AHR_24Vo	0.000
SM_GC	2.75,9.40,0.00,2.38,0.084,0.000,0.230,203,2736,499,-8.36,-0.71,676.54,0,0,0,0,0,0,14.33,28.83,14.17	FG_AHR_10Vo	0.000
RAFOS_CLK	587	MEM	232696
RAFOS_FIX	7324.021484,-14457.928711,260814,121206,2,255,0.38	DATA_FILE_SIZE	26708,746
IRIDIUM_FIX	7257.42,-14515.41,270814,092539	CAP_FILE_SIZE	117333,0
TT8_MAMPS	0.04494,0.04494	CFSIZE	2097872896,2047803392
HUMID	44.84	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.55303	INTR	2,11707.58,0x2378b6,7,5
TCM_TEMP	12.50	SOUNDSPEED	1448.5
XPDR_PINGS	13	GPS	270814,231554,7340.156,-14507.972,33,0.8,53,22.9
SC_FREEKB	3836960

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	225	35.01	nil	0	0	0.00
Roll_motor	32	102	42.64	nil	0	0	0.00
VBD_pump_during_apogee	571	2003	14527.76	nil	0	0	0.00
VBD_pump_during_surface	2	230	6.94	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	11758	17	2628.91
Iridium_during_xfer	0	0	0.00	TMICL	0	0	0.00
Transponder_ping	3	420	17.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	9603	2	279.31
TT8_Active	557	9	66.51
TT8_Sampling	1561	28	569.08
TT8_CF8	113	35	51.18
TT8_Kalman	0	0	0.00
Analog_circuits	1220	10	153.64
GPS_charging	0	0	0.00
Compass	1123	0	10.61
RAFOS	1461	48	882.91
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	2985	2736	551	599	0.0	0.0	0	77	0.00	0.00	-58.78	0.000	16386	0.000	0.000	2985	2738	2139	2191	2088	0	0	0	0	0	0	28.83	28.83	28.83
79	-0.69	-145.9	2981	2738	2196	2090	3.2	-2.2	6	129	0.93	2.35	-42.17	0.000	20996	0.067	0.090	2657	1369	3856	3922	3790	0	0	0	0	0	0	14.33	14.29	14.51
284	-0.69	-145.9	2658	1368	3923	3795	63.9	-25.4	47	290	0.00	2.50	0.00	0.000	1030	0.000	0.097	2646	2761	3855	3921	3790	0	0	0	0	0	0	28.83	14.26	28.83
589	-0.69	-145.9	2647	2761	3922	3796	134.0	-20.7	78	590	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2761	3858	3922	3794	0	0	0	0	0	0	28.83	28.83	28.83
889	-0.69	-145.9	2647	2762	3922	3796	193.9	-19.0	108	890	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2761	3857	3921	3794	0	0	0	0	0	0	28.83	28.83	28.83
1189	-0.69	-145.9	2647	2761	3922	3795	245.5	-15.9	138	1190	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2761	3857	3921	3794	0	0	0	0	0	0	28.83	28.83	28.83
1489	-0.69	-145.9	2647	2759	3922	3795	291.1	-14.8	150	1490	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2761	3857	3921	3793	0	0	0	0	0	0	28.83	28.83	28.83
1789	-0.69	-145.9	2643	2761	3922	3794	333.8	-14.2	160	1790	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2761	3857	3921	3794	0	0	0	0	0	0	28.83	28.83	28.83
2089	-0.69	-145.9	2647	2761	3923	3795	375.4	-13.8	170	2090	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2761	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
2389	-0.69	-145.9	2647	2761	3922	3794	416.5	-13.6	180	2390	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2761	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
2689	-0.69	-145.9	2646	2761	3922	3795	457.0	-13.4	190	2690	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2761	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
2989	-0.69	-145.9	2647	2761	3922	3794	497.8	-13.7	200	2990	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2761	3857	3921	3794	0	0	0	0	0	0	28.83	28.83	28.83
3289	-0.69	-145.9	2647	2762	3922	3796	537.6	-13.1	210	3290	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2761	3857	3921	3794	0	0	0	0	0	0	28.83	28.83	28.83
3589	-0.69	-145.9	2647	2761	3922	3795	577.0	-13.1	220	3590	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2761	3857	3921	3794	0	0	0	0	0	0	28.83	28.83	28.83
3889	-0.69	-145.9	2647	2761	3922	3795	616.1	-12.9	230	3890	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2761	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
4189	-0.69	-145.9	2647	2760	3922	3795	654.2	-12.7	240	4190	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2761	3857	3921	3794	0	0	0	0	0	0	28.83	28.83	28.83
4489	-0.69	-145.9	2647	2762	3922	3796	691.7	-12.6	250	4494	0.00	1.80	0.00	0.000	260	0.000	0.103	2638	3780	3858	3922	3794	0	0	0	0	0	0	28.83	14.54	28.83
4534	-0.69	-145.9	2639	3781	3922	3796	697.8	-13.5	259	4540	0.10	1.67	0.00	0.000	3078	0.221	0.054	2665	2757	3858	3921	3795	0	0	0	0	0	0	14.43	14.66	28.83
4850	-0.69	-145.9	2666	2756	3922	3795	733.3	-11.1	272	4851	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2756	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
4997	end dive: TARGET_DEPTH_EXCEEDED
state	4998	begin apogee
5002	-0.13	0.0	2666	2756	3922	3795	750.0	-11.1	277	5130	0.68	0.00	125.82	2.004	10244	0.226	0.000	2848	2756	3257	3278	3236	0	0	0	0	0	0	14.45	28.83	13.14
5131	end apogee: CONTROL_FINISHED_OK
state	5131	begin climb
5133	0.69	145.9	2849	2756	3273	3232	753.5	0.0	281	5265	0.85	0.00	123.85	1.829	11270	0.119	0.000	3110	2755	2657	2663	2651	0	0	0	0	0	0	13.79	28.83	12.69
5570	0.69	145.9	3111	2756	2665	2645	708.2	13.3	321	5571	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2756	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
5870	0.69	145.9	3111	2756	2664	2645	668.5	13.2	331	5871	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2757	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
6170	0.69	145.9	3111	2757	2664	2645	629.0	13.1	341	6171	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2756	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
6470	0.69	145.9	3111	2756	2664	2645	590.3	12.9	351	6471	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	2756	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
6770	0.69	145.9	3111	2756	2665	2644	551.9	12.8	361	6770	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2755	2653	2663	2643	0	0	0	0	0	0	28.83	28.83	28.83
7070	0.69	145.9	3111	2756	2665	2643	513.9	12.6	371	7070	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2755	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
7370	0.69	145.9	3111	2756	2665	2644	476.4	12.5	381	7370	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2756	2653	2663	2643	0	0	0	0	0	0	28.83	28.83	28.83
7670	0.69	145.9	3111	2756	2664	2644	439.1	12.3	391	7671	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2755	2652	2663	2642	0	0	0	0	0	0	28.83	28.83	28.83
7970	0.69	145.9	3111	2756	2665	2644	402.1	12.2	401	7971	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2755	2653	2663	2643	0	0	0	0	0	0	28.83	28.83	28.83
8270	0.69	145.9	3110	2754	2665	2643	365.6	12.1	411	8275	0.00	2.35	0.00	0.000	516	0.000	0.066	3120	1347	2653	2664	2643	0	0	0	0	0	0	28.83	14.60	28.83
8300	0.70	157.1	3121	1348	2665	2644	362.1	11.0	417	8315	0.00	2.42	9.57	1.427	9222	0.000	0.091	3120	2743	2615	2624	2606	0	0	0	0	0	0	28.83	14.57	13.93
8630	0.70	157.1	3121	2747	2624	2603	321.3	12.1	433	8630	0.00	0.00	0.00	0.000	6	0.000	0.000	3120	2746	2613	2623	2603	0	0	0	0	0	0	28.83	28.83	28.83
8930	0.70	157.1	3121	2747	2624	2603	285.5	12.1	443	8930	0.00	0.00	0.00	0.000	6	0.000	0.000	3120	2746	2613	2623	2603	0	0	0	0	0	0	28.83	28.83	28.83
9230	0.71	172.2	3121	2746	2625	2603	252.3	10.8	453	9245	0.00	0.00	14.02	1.307	8198	0.000	0.000	3120	2746	2554	2562	2546	0	0	0	0	0	0	28.83	28.83	13.93
9530	0.75	226.2	3121	2746	2560	2538	222.2	8.8	481	9581	0.00	2.40	44.30	1.246	8708	0.000	0.067	3125	1352	2331	2333	2329	0	0	0	0	0	0	28.83	14.23	13.71
9602	0.78	267.7	3126	1351	2331	2329	215.5	9.4	495	9643	0.00	2.47	34.85	1.278	9222	0.000	0.092	3125	2743	2164	2164	2165	0	0	0	0	0	0	28.83	14.28	13.57
9941	0.78	276.4	3125	2743	2164	2153	177.4	11.2	533	9952	0.00	0.00	8.00	1.283	8198	0.000	0.000	3125	2743	2127	2133	2121	0	0	0	0	0	0	28.83	28.83	13.76
10251	0.81	314.4	3126	2743	2134	2117	146.1	9.6	564	10293	0.00	2.45	32.65	1.183	8708	0.000	0.069	3125	1355	1969	1968	1970	0	0	0	0	0	0	28.83	14.19	13.69
10328	0.84	360.3	3126	1357	1966	1970	138.9	9.2	579	10374	0.12	2.47	39.75	1.219	11270	0.130	0.093	3181	2742	1784	1781	1788	0	0	0	0	0	0	14.29	14.25	13.54
10672	0.84	360.3	3182	2743	1782	1772	91.0	14.0	618	10673	0.00	0.00	0.00	0.000	6	0.000	0.000	3181	2743	1776	1781	1771	0	0	0	0	0	0	28.83	28.83	28.83
10972	0.86	393.3	3182	2743	1782	1767	56.0	9.9	648	10994	0.00	2.45	13.35	0.357	8708	0.000	0.067	3191	1348	1657	1666	1648	0	0	0	0	0	0	28.83	14.26	14.05
11049	0.92	481.4	3191	1349	1664	1649	50.3	6.9	663	11095	0.00	2.47	39.85	0.338	9222	0.000	0.093	3191	2738	1293	1306	1281	0	0	0	0	0	0	28.83	14.26	14.01
11393	0.98	565.1	3192	2740	1309	1268	22.8	7.2	702	11436	0.00	2.47	37.42	0.269	8708	0.000	0.069	3190	1347	953	955	951	0	0	0	0	0	0	28.83	14.24	14.08
11471	1.06	670.1	3191	1347	957	951	17.8	6.0	717	11527	0.15	2.47	47.95	0.249	11270	0.128	0.091	3248	2736	524	476	573	0	0	0	0	0	0	14.26	14.23	14.03
11685	end climb: SURFACE_DEPTH_REACHED
state	11685	begin surface coast
11704	end surface coast: FINISH_DEPTH_REACHED
state	11704	begin surface