Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 24 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 ESCAPE_HEADING 0 C_ROLL_CLIMB 2800 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 24 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 16 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 16 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 688.85968 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.6

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 3349 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 0.0012300001 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 60 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 -21649.189 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 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 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 2470 FG_AHR_24V 0 SEABIRD_C_G -9.7531748

MAX_BUOY 150 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 32 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 10 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.0099999998 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 2200 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 500 PITCH_GAIN 32 SURFACE_URGENCY_FORCE 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3900 SURFACE_URGENCY_TRY 0

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 0.0012300001 TGT_DEFAULT_LAT 4736

ALTIM_PING_DEPTH 0 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 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 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 T_GPS 5

CAPUPLOAD 0 ID 199 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -21649.189

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 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 2470 LOGGERDEVICE4 -1 ROLL_MAX 3771 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2800 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2200 MASS 54269 ROLL_MIN 218 UNCOM_BLEED 60

C_VBD 3349 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 16 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 16 USE_ICE 0

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 10 SEABIRD_C_G -9.7531748 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1147131 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0015239087 VBD_MIN 500

DIVE 24 N_FILEKB 8 SEABIRD_C_J 0.00019379995 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 N_GPS -20 SEABIRD_T_G 0.0044001359 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00063958467 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.6420161e-05 W_ADJ_DBAND 0

D_FINISH 0 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 0.0099999998 SM_CC 688.85968

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 290714,094931,7056.542,-14429.157,13,0.8,33,22.3 SPEED_LIMITS 0.142,0.254

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.76 MHEAD_RNG_PITCHd_Wd 305.1,87222,-21.9,-11.905,-25.13,1887

_SM_ANGLEo -72.5 D_GRID 1000

GPS2 290714,095900,7056.473,-14428.880,3,0.8,24,22.3

Post-dive calculations and measurements:

FREEZE 12.78,4.359,-1.453,0,1,0 _10V_AH 12.63,0.000

SM_CCo 8409,131.68,0.207,0,0,498,698.86 FG_AHR_24Vo 0.000

SM_GC 1.63,7.93,1.48,0.00,0.092,0.111,0.000,201,2198,503,-7.05,-0.57,698.12,0,0,0,0,0,0,14.33,14.30,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 71 MEM 302484

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 26697,831

IRIDIUM_FIX 7026.32,-14326.30,290714,072110 CAP_FILE_SIZE 130017,0

TT8_MAMPS 0.047187,0.047187 CFSIZE 2097872896,2088402944

HUMID 50.43 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.47526 INTR 0,9130.34,0x2378b6,7,5

TCM_TEMP 11.60 SOUNDSPEED 1450.0

XPDR_PINGS 0 EKF 8852,4257.503906,-8670.014648,12.777651,-0.027769,0.064582,-0.000769,0.000131,0.001225,0.000095,0.001525,0.001525,0.000034

SC_FREEKB 4014180 CURRENT 0.072,150.77,1

TM_FREEKB 7698112 GPS 290714,122654,7057.195,-14429.449,32,0.8,52,22.3

_24V_AH 12.86,56.816

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 475 135.47 nil 0 0 0.00

Roll_motor 85 144 158.56 nil 0 0 0.00

VBD_pump_during_apogee 483 2100 13068.45 nil 0 0 0.00

VBD_pump_during_surface 131 207 351.05 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 8430 15 1682.19

Iridium_during_xfer 363 182 854.86 TMICL 8452 1000 108692.72

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.00

TT8 0 0 0.00

LPSleep 6181 2 180.36

TT8_Active 784 10 108.73

TT8_Sampling 2296 29 861.49

TT8_CF8 76 36 35.19

TT8_Kalman 0 0 0.00

Analog_circuits 1881 10 237.59

GPS_charging 0 0 0.00

Compass 1227 5 77.53

RAFOS 1490 48 903.30

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

18 -0.87 -145.9 186 2207 577 514 0.0 0.0 0 85 0.00 0.00 -63.17 0.000 16386 0.000 0.000 186 2207 2119 2133 2106 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.87 -145.9 187 2207 2132 2108 3.0 -2.5 6 143 10.98 2.58 -35.60 0.000 18948 0.475 0.145 2182 780 3947 4002 3892 0 0 0 0 0 0 14.06 14.25 14.48

232 -0.78 -145.9 2182 780 4003 3895 38.2 -24.0 32 240 0.20 2.53 0.00 0.000 3078 0.362 0.105 2212 2201 3948 4002 3894 0 0 0 0 0 0 14.19 14.28 28.83

544 -0.75 -145.9 2212 2202 4004 3903 100.0 -18.0 64 552 0.00 2.53 0.00 0.000 260 0.000 0.132 2203 3612 3952 4009 3896 0 0 0 0 0 0 28.83 14.37 28.83

627 -0.71 -145.9 2203 3613 4002 3897 115.5 -19.3 80 635 0.15 2.45 0.00 0.000 3078 0.318 0.095 2232 2191 3949 4002 3896 0 0 0 0 0 0 14.29 14.40 28.83

939 -0.71 -145.9 2232 2190 4005 3897 162.3 -13.6 112 948 0.00 2.55 0.00 0.000 260 0.000 0.133 2228 3612 3949 4002 3896 0 0 0 0 0 0 28.83 14.42 28.83

1071 -0.71 -145.9 2223 3613 4002 3897 181.8 -14.5 138 1079 0.00 2.45 0.00 0.000 1030 0.000 0.093 2222 2193 3949 4002 3896 0 0 0 0 0 0 28.83 14.43 28.83

1384 -0.73 -145.9 2223 2193 4003 3896 220.7 -11.4 170 1391 0.00 2.55 0.00 0.000 260 0.000 0.132 2212 3612 3948 4002 3895 0 0 0 0 0 0 28.83 14.45 28.83

1470 -0.73 -145.9 2211 3613 4004 3897 232.0 -12.8 187 1481 0.00 2.42 0.00 0.000 1030 0.000 0.093 2211 2200 3949 4002 3896 0 0 0 0 0 0 28.83 14.43 28.83

1775 -0.73 -145.9 2211 2201 4003 3896 267.4 -11.3 208 1783 0.00 2.55 0.00 0.000 260 0.000 0.132 2201 3621 3948 4002 3895 0 0 0 0 0 0 28.83 14.47 28.83

1882 -0.73 -145.9 2202 3621 4002 3895 280.7 -13.1 229 1890 0.12 2.45 0.00 0.000 3078 0.301 0.093 2225 2194 3948 4002 3895 0 0 0 0 0 0 14.40 14.50 28.83

2200 -0.77 -145.9 2226 2195 4004 3895 313.9 -10.3 242 2207 0.00 2.55 0.00 0.000 260 0.000 0.134 2216 3619 3948 4002 3895 0 0 0 0 0 0 28.83 14.48 28.83

2292 -0.80 -145.9 2217 3620 4009 3895 324.2 -11.7 260 2300 0.00 2.42 0.00 0.000 1030 0.000 0.093 2216 2199 3948 4002 3894 0 0 0 0 0 0 28.83 14.53 28.83

2624 -0.83 -145.9 2217 2199 4002 3894 359.5 -10.5 276 2632 0.00 2.53 0.00 0.000 260 0.000 0.132 2205 3615 3948 4002 3894 0 0 0 0 0 0 28.83 14.54 28.83

2736 -0.83 -145.9 2205 3616 4003 3893 372.5 -11.6 298 2744 0.00 2.42 0.00 0.000 1030 0.000 0.093 2205 2195 3947 4002 3893 0 0 0 0 0 0 28.83 14.54 28.83

3049 -0.85 -145.9 2205 2194 4003 3894 406.4 -10.7 310 3056 0.00 2.53 0.00 0.000 260 0.000 0.132 2195 3612 3947 4002 3893 0 0 0 0 0 0 28.83 14.52 28.83

3125 -0.85 -145.9 2196 3612 4002 3893 415.6 -11.9 325 3133 0.00 2.42 0.00 0.000 1030 0.000 0.093 2201 2193 3947 4002 3893 0 0 0 0 0 0 28.83 14.54 28.83

3442 -0.85 -145.9 2196 2193 4001 3893 452.2 -11.5 338 3450 0.00 2.53 0.00 0.000 260 0.000 0.133 2184 3612 3947 4002 3893 0 0 0 0 0 0 28.83 14.52 28.83

3549 -0.85 -145.9 2185 3612 4001 3893 465.6 -12.5 359 3558 0.00 2.42 0.00 0.000 1030 0.000 0.093 2184 2192 3947 4002 3893 0 0 0 0 0 0 28.83 14.56 28.83

3867 end dive: TARGET_DEPTH_EXCEEDED

state 3867 begin apogee

3871 -0.16 0.0 2181 2804 3999 3893 503.5 -11.8 372 4012 0.93 0.00 132.12 2.101 10246 0.295 0.000 2412 2803 3350 3403 3297 0 0 0 0 1 0 14.44 28.83 12.86

4014 end apogee: CONTROL_FINISHED_OK

state 4014 begin climb

4015 0.87 145.9 2411 2804 3411 3299 507.4 0.0 376 4162 1.10 0.00 133.30 1.667 10502 0.147 0.000 2739 2803 2745 2795 2695 0 0 0 0 0 0 13.74 28.83 13.00

4471 0.79 145.9 2738 2804 2789 2678 453.6 15.4 410 4474 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2803 2734 2790 2678 0 0 0 0 0 0 28.83 28.83 28.83

4771 0.71 145.9 2739 2803 2789 2679 407.2 15.5 420 4779 0.17 2.53 0.00 0.000 4612 0.320 0.106 2713 1386 2732 2787 2678 0 0 0 0 0 0 14.20 14.26 28.83

4838 0.67 145.9 2714 1386 2787 2679 398.2 13.5 433 4846 0.00 2.55 0.00 0.000 1030 0.000 0.112 2714 2801 2733 2787 2679 0 0 0 0 0 0 28.83 14.31 28.83

5166 0.62 145.9 2713 2802 2788 2679 352.4 14.0 448 5174 0.15 2.47 0.00 0.000 4612 0.302 0.101 2688 1394 2732 2787 2678 0 0 0 0 0 0 14.29 14.40 28.83

5228 0.62 148.0 2689 1395 2787 2679 344.8 11.8 460 5236 0.00 2.50 0.00 0.000 1030 0.000 0.112 2688 2802 2732 2787 2678 0 0 0 0 0 0 28.83 14.40 28.83

5561 0.59 148.0 2688 2802 2788 2679 303.5 12.2 476 5569 0.00 2.47 0.00 0.000 516 0.000 0.103 2698 1387 2732 2787 2678 0 0 0 0 0 0 28.83 14.46 28.83

5668 0.58 158.3 2699 1388 2788 2678 291.1 11.3 497 5681 0.17 2.50 3.90 1.025 13318 0.304 0.112 2662 2801 2699 2753 2646 0 0 0 0 0 0 14.37 14.46 13.76

5985 0.61 182.4 2662 2802 2778 2663 257.2 10.6 510 6026 0.00 2.50 29.20 1.389 8708 0.000 0.103 2671 1394 2589 2652 2527 0 0 0 0 0 0 28.83 14.27 13.76

6119 0.63 198.8 2670 1395 2650 2519 242.5 11.0 535 6143 0.00 2.53 13.73 1.330 9222 0.000 0.112 2670 2800 2527 2593 2462 0 0 0 0 0 0 28.83 14.33 13.69

6438 0.65 216.0 2670 2800 2591 2450 204.9 11.0 568 6458 0.00 2.58 14.77 1.291 8708 0.000 0.103 2681 1394 2460 2532 2389 0 0 0 0 0 0 28.83 14.24 13.76

6567 0.69 246.2 2680 1395 2524 2378 191.1 10.3 593 6604 0.00 2.53 27.58 1.284 9222 0.000 0.112 2681 2799 2334 2406 2263 0 0 0 0 0 0 28.83 14.31 13.66

6898 0.71 268.5 2681 2799 2397 2245 154.6 10.7 628 6926 0.00 2.50 18.83 1.251 8708 0.000 0.101 2691 1396 2239 2318 2161 0 0 0 0 0 0 28.83 14.19 13.71

7046 0.80 309.4 2692 1396 2312 2150 139.7 9.7 656 7093 0.12 2.53 36.88 1.270 11270 0.171 0.112 2732 2800 2076 2163 1990 0 0 0 0 0 0 14.29 14.28 13.60

7401 0.80 309.4 2731 2800 2153 1965 93.8 12.3 694 7409 0.00 2.50 0.00 0.000 516 0.000 0.105 2741 1396 2058 2152 1964 0 0 0 0 0 0 28.83 14.26 28.83

7527 0.80 309.4 2737 1396 2153 1964 79.1 12.1 719 7538 0.00 2.55 0.00 0.000 1030 0.000 0.112 2741 2807 2057 2151 1963 0 0 0 0 0 0 28.83 14.25 28.83

7833 0.88 374.3 2742 2808 2151 1963 45.9 8.4 750 7868 0.00 0.00 29.77 0.304 8710 0.000 0.000 2741 2807 1822 1916 1728 0 0 0 0 0 0 28.83 28.83 14.16

8163 1.02 455.3 2741 2808 1928 1752 16.7 7.5 785 8218 0.15 2.58 43.67 0.220 10756 0.163 0.107 2806 1400 1492 1590 1395 0 0 0 0 0 0 14.33 14.23 14.21

8406 end climb: NO_VERTICAL_VELOCITY

state 8406 begin surface

ID	199	ESCAPE_HEADING	0	C_ROLL_CLIMB	2800	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	24	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	16	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	16	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	688.85968	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.6
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	3349	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	0.0012300001	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	60	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	-21649.189	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	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	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	2470	FG_AHR_24V	0	SEABIRD_C_G	-9.7531748
MAX_BUOY	150	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	32	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	10	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.0099999998	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	2200	ALTIM_PING_DELTA	5

GPS1	290714,094931,7056.542,-14429.157,13,0.8,33,22.3	SPEED_LIMITS	0.142,0.254
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.76	MHEAD_RNG_PITCHd_Wd	305.1,87222,-21.9,-11.905,-25.13,1887
_SM_ANGLEo	-72.5	D_GRID	1000
GPS2	290714,095900,7056.473,-14428.880,3,0.8,24,22.3

FREEZE	12.78,4.359,-1.453,0,1,0	_10V_AH	12.63,0.000
SM_CCo	8409,131.68,0.207,0,0,498,698.86	FG_AHR_24Vo	0.000
SM_GC	1.63,7.93,1.48,0.00,0.092,0.111,0.000,201,2198,503,-7.05,-0.57,698.12,0,0,0,0,0,0,14.33,14.30,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	71	MEM	302484
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	26697,831
IRIDIUM_FIX	7026.32,-14326.30,290714,072110	CAP_FILE_SIZE	130017,0
TT8_MAMPS	0.047187,0.047187	CFSIZE	2097872896,2088402944
HUMID	50.43	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.47526	INTR	0,9130.34,0x2378b6,7,5
TCM_TEMP	11.60	SOUNDSPEED	1450.0
XPDR_PINGS	0	EKF	8852,4257.503906,-8670.014648,12.777651,-0.027769,0.064582,-0.000769,0.000131,0.001225,0.000095,0.001525,0.001525,0.000034
SC_FREEKB	4014180	CURRENT	0.072,150.77,1
TM_FREEKB	7698112	GPS	290714,122654,7057.195,-14429.449,32,0.8,52,22.3
_24V_AH	12.86,56.816

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	475	135.47	nil	0	0	0.00
Roll_motor	85	144	158.56	nil	0	0	0.00
VBD_pump_during_apogee	483	2100	13068.45	nil	0	0	0.00
VBD_pump_during_surface	131	207	351.05	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	8430	15	1682.19
Iridium_during_xfer	363	182	854.86	TMICL	8452	1000	108692.72
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.00
TT8	0	0	0.00
LPSleep	6181	2	180.36
TT8_Active	784	10	108.73
TT8_Sampling	2296	29	861.49
TT8_CF8	76	36	35.19
TT8_Kalman	0	0	0.00
Analog_circuits	1881	10	237.59
GPS_charging	0	0	0.00
Compass	1227	5	77.53
RAFOS	1490	48	903.30
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
18	-0.87	-145.9	186	2207	577	514	0.0	0.0	0	85	0.00	0.00	-63.17	0.000	16386	0.000	0.000	186	2207	2119	2133	2106	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.87	-145.9	187	2207	2132	2108	3.0	-2.5	6	143	10.98	2.58	-35.60	0.000	18948	0.475	0.145	2182	780	3947	4002	3892	0	0	0	0	0	0	14.06	14.25	14.48
232	-0.78	-145.9	2182	780	4003	3895	38.2	-24.0	32	240	0.20	2.53	0.00	0.000	3078	0.362	0.105	2212	2201	3948	4002	3894	0	0	0	0	0	0	14.19	14.28	28.83
544	-0.75	-145.9	2212	2202	4004	3903	100.0	-18.0	64	552	0.00	2.53	0.00	0.000	260	0.000	0.132	2203	3612	3952	4009	3896	0	0	0	0	0	0	28.83	14.37	28.83
627	-0.71	-145.9	2203	3613	4002	3897	115.5	-19.3	80	635	0.15	2.45	0.00	0.000	3078	0.318	0.095	2232	2191	3949	4002	3896	0	0	0	0	0	0	14.29	14.40	28.83
939	-0.71	-145.9	2232	2190	4005	3897	162.3	-13.6	112	948	0.00	2.55	0.00	0.000	260	0.000	0.133	2228	3612	3949	4002	3896	0	0	0	0	0	0	28.83	14.42	28.83
1071	-0.71	-145.9	2223	3613	4002	3897	181.8	-14.5	138	1079	0.00	2.45	0.00	0.000	1030	0.000	0.093	2222	2193	3949	4002	3896	0	0	0	0	0	0	28.83	14.43	28.83
1384	-0.73	-145.9	2223	2193	4003	3896	220.7	-11.4	170	1391	0.00	2.55	0.00	0.000	260	0.000	0.132	2212	3612	3948	4002	3895	0	0	0	0	0	0	28.83	14.45	28.83
1470	-0.73	-145.9	2211	3613	4004	3897	232.0	-12.8	187	1481	0.00	2.42	0.00	0.000	1030	0.000	0.093	2211	2200	3949	4002	3896	0	0	0	0	0	0	28.83	14.43	28.83
1775	-0.73	-145.9	2211	2201	4003	3896	267.4	-11.3	208	1783	0.00	2.55	0.00	0.000	260	0.000	0.132	2201	3621	3948	4002	3895	0	0	0	0	0	0	28.83	14.47	28.83
1882	-0.73	-145.9	2202	3621	4002	3895	280.7	-13.1	229	1890	0.12	2.45	0.00	0.000	3078	0.301	0.093	2225	2194	3948	4002	3895	0	0	0	0	0	0	14.40	14.50	28.83
2200	-0.77	-145.9	2226	2195	4004	3895	313.9	-10.3	242	2207	0.00	2.55	0.00	0.000	260	0.000	0.134	2216	3619	3948	4002	3895	0	0	0	0	0	0	28.83	14.48	28.83
2292	-0.80	-145.9	2217	3620	4009	3895	324.2	-11.7	260	2300	0.00	2.42	0.00	0.000	1030	0.000	0.093	2216	2199	3948	4002	3894	0	0	0	0	0	0	28.83	14.53	28.83
2624	-0.83	-145.9	2217	2199	4002	3894	359.5	-10.5	276	2632	0.00	2.53	0.00	0.000	260	0.000	0.132	2205	3615	3948	4002	3894	0	0	0	0	0	0	28.83	14.54	28.83
2736	-0.83	-145.9	2205	3616	4003	3893	372.5	-11.6	298	2744	0.00	2.42	0.00	0.000	1030	0.000	0.093	2205	2195	3947	4002	3893	0	0	0	0	0	0	28.83	14.54	28.83
3049	-0.85	-145.9	2205	2194	4003	3894	406.4	-10.7	310	3056	0.00	2.53	0.00	0.000	260	0.000	0.132	2195	3612	3947	4002	3893	0	0	0	0	0	0	28.83	14.52	28.83
3125	-0.85	-145.9	2196	3612	4002	3893	415.6	-11.9	325	3133	0.00	2.42	0.00	0.000	1030	0.000	0.093	2201	2193	3947	4002	3893	0	0	0	0	0	0	28.83	14.54	28.83
3442	-0.85	-145.9	2196	2193	4001	3893	452.2	-11.5	338	3450	0.00	2.53	0.00	0.000	260	0.000	0.133	2184	3612	3947	4002	3893	0	0	0	0	0	0	28.83	14.52	28.83
3549	-0.85	-145.9	2185	3612	4001	3893	465.6	-12.5	359	3558	0.00	2.42	0.00	0.000	1030	0.000	0.093	2184	2192	3947	4002	3893	0	0	0	0	0	0	28.83	14.56	28.83
3867	end dive: TARGET_DEPTH_EXCEEDED
state	3867	begin apogee
3871	-0.16	0.0	2181	2804	3999	3893	503.5	-11.8	372	4012	0.93	0.00	132.12	2.101	10246	0.295	0.000	2412	2803	3350	3403	3297	0	0	0	0	1	0	14.44	28.83	12.86
4014	end apogee: CONTROL_FINISHED_OK
state	4014	begin climb
4015	0.87	145.9	2411	2804	3411	3299	507.4	0.0	376	4162	1.10	0.00	133.30	1.667	10502	0.147	0.000	2739	2803	2745	2795	2695	0	0	0	0	0	0	13.74	28.83	13.00
4471	0.79	145.9	2738	2804	2789	2678	453.6	15.4	410	4474	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2803	2734	2790	2678	0	0	0	0	0	0	28.83	28.83	28.83
4771	0.71	145.9	2739	2803	2789	2679	407.2	15.5	420	4779	0.17	2.53	0.00	0.000	4612	0.320	0.106	2713	1386	2732	2787	2678	0	0	0	0	0	0	14.20	14.26	28.83
4838	0.67	145.9	2714	1386	2787	2679	398.2	13.5	433	4846	0.00	2.55	0.00	0.000	1030	0.000	0.112	2714	2801	2733	2787	2679	0	0	0	0	0	0	28.83	14.31	28.83
5166	0.62	145.9	2713	2802	2788	2679	352.4	14.0	448	5174	0.15	2.47	0.00	0.000	4612	0.302	0.101	2688	1394	2732	2787	2678	0	0	0	0	0	0	14.29	14.40	28.83
5228	0.62	148.0	2689	1395	2787	2679	344.8	11.8	460	5236	0.00	2.50	0.00	0.000	1030	0.000	0.112	2688	2802	2732	2787	2678	0	0	0	0	0	0	28.83	14.40	28.83
5561	0.59	148.0	2688	2802	2788	2679	303.5	12.2	476	5569	0.00	2.47	0.00	0.000	516	0.000	0.103	2698	1387	2732	2787	2678	0	0	0	0	0	0	28.83	14.46	28.83
5668	0.58	158.3	2699	1388	2788	2678	291.1	11.3	497	5681	0.17	2.50	3.90	1.025	13318	0.304	0.112	2662	2801	2699	2753	2646	0	0	0	0	0	0	14.37	14.46	13.76
5985	0.61	182.4	2662	2802	2778	2663	257.2	10.6	510	6026	0.00	2.50	29.20	1.389	8708	0.000	0.103	2671	1394	2589	2652	2527	0	0	0	0	0	0	28.83	14.27	13.76
6119	0.63	198.8	2670	1395	2650	2519	242.5	11.0	535	6143	0.00	2.53	13.73	1.330	9222	0.000	0.112	2670	2800	2527	2593	2462	0	0	0	0	0	0	28.83	14.33	13.69
6438	0.65	216.0	2670	2800	2591	2450	204.9	11.0	568	6458	0.00	2.58	14.77	1.291	8708	0.000	0.103	2681	1394	2460	2532	2389	0	0	0	0	0	0	28.83	14.24	13.76
6567	0.69	246.2	2680	1395	2524	2378	191.1	10.3	593	6604	0.00	2.53	27.58	1.284	9222	0.000	0.112	2681	2799	2334	2406	2263	0	0	0	0	0	0	28.83	14.31	13.66
6898	0.71	268.5	2681	2799	2397	2245	154.6	10.7	628	6926	0.00	2.50	18.83	1.251	8708	0.000	0.101	2691	1396	2239	2318	2161	0	0	0	0	0	0	28.83	14.19	13.71
7046	0.80	309.4	2692	1396	2312	2150	139.7	9.7	656	7093	0.12	2.53	36.88	1.270	11270	0.171	0.112	2732	2800	2076	2163	1990	0	0	0	0	0	0	14.29	14.28	13.60
7401	0.80	309.4	2731	2800	2153	1965	93.8	12.3	694	7409	0.00	2.50	0.00	0.000	516	0.000	0.105	2741	1396	2058	2152	1964	0	0	0	0	0	0	28.83	14.26	28.83
7527	0.80	309.4	2737	1396	2153	1964	79.1	12.1	719	7538	0.00	2.55	0.00	0.000	1030	0.000	0.112	2741	2807	2057	2151	1963	0	0	0	0	0	0	28.83	14.25	28.83
7833	0.88	374.3	2742	2808	2151	1963	45.9	8.4	750	7868	0.00	0.00	29.77	0.304	8710	0.000	0.000	2741	2807	1822	1916	1728	0	0	0	0	0	0	28.83	28.83	14.16
8163	1.02	455.3	2741	2808	1928	1752	16.7	7.5	785	8218	0.15	2.58	43.67	0.220	10756	0.163	0.107	2806	1400	1492	1590	1395	0	0	0	0	0	0	14.33	14.23	14.21
8406	end climb: NO_VERTICAL_VELOCITY
state	8406	begin surface