Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 247 * 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 247 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 58 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 20 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 -5678.9678 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 -5678.9678

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 58 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 20 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 247 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 300814,142424,7351.934,-14430.335,5,0.8,25,23.1 SPEED_LIMITS 0.201,0.252

_CALLS 1 TGT_NAME 8

_XMS_NAKs 0 TGT_LATLONG 7340.000,-14510.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 3.18 MHEAD_RNG_PITCHd_Wd 200.0,30254,-22.3,-11.628,-24.76,1933

_SM_ANGLEo -75.8 D_GRID 1000

GPS2 300814,142424,7351.934,-14430.335,5,0.8,25,23.1

Post-dive calculations and measurements:

FREEZE 0.80,-1.302,-1.430,2,2,0 _24V_AH 12.69,75.112

FINISH 0.8,1.021093 _10V_AH 13.03,0.000

SM_CCo 11629,0.00,0.000,0,0,495,677.76 FG_AHR_24Vo 0.000

SM_GC 1.86,9.52,0.05,0.00,0.089,0.233,0.000,195,2775,495,-8.36,-0.74,677.76,0,0,0,0,0,0,14.35,14.31,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 172 MEM 221736

RAFOS_FIX 7324.021484,-14457.928711,260814,121206,2,255,0.38 DATA_FILE_SIZE 26733,753

IRIDIUM_FIX 7312.24,-14422.33,300814,033451 CAP_FILE_SIZE 118599,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2044133376

HUMID 44.32 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.55303 INTR 1,4921.67,0x2378b6,2,5

TCM_TEMP 12.50 SOUNDSPEED 1447.6

XPDR_PINGS 6 GPS 300814,205924,7349.386,-14437.749,26,1.0,46,23.1

SC_FREEKB 3828000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 396 117.67 nil 0 0 0.00

Roll_motor 42 232 125.57 nil 0 0 0.00

VBD_pump_during_apogee 559 1996 14177.59 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 11589 18 2776.87

Iridium_during_xfer 0 0 0.00 TMICL 0 0 0.00

Transponder_ping 1 420 7.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 9449 2 284.43

TT8_Active 626 9 77.28

TT8_Sampling 1540 28 581.08

TT8_CF8 121 35 56.57

TT8_Kalman 0 0 0.00

Analog_circuits 1239 10 161.55

GPS_charging 0 0 0.00

Compass 1130 0 11.05

RAFOS 1479 48 925.03

Transponder 0 5 0.04

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 -145.9 201 2742 442 549 0.0 0.0 0 32 0.00 0.00 -14.98 0.000 16386 0.000 0.000 200 2742 938 938 939 0 0 0 0 0 0 28.83 28.83 28.83

34 -0.69 -145.9 201 2743 939 940 3.1 0.0 1 142 11.98 2.40 -88.05 0.000 18948 0.396 0.090 2663 1376 3853 3919 3788 0 0 0 0 0 0 14.06 14.31 14.53

341 -0.69 -145.9 2665 1374 3919 3794 74.2 -21.5 63 346 0.00 2.47 0.00 0.000 1030 0.000 0.096 2655 2760 3856 3919 3794 0 0 0 0 0 0 28.83 14.31 28.83

651 -0.69 -145.9 2655 2760 3922 3794 143.3 -21.0 95 652 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2760 3856 3919 3794 0 0 0 0 0 0 28.83 28.83 28.83

951 -0.69 -145.9 2656 2760 3920 3795 202.2 -19.2 125 952 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2760 3856 3919 3794 0 0 0 0 0 0 28.83 28.83 28.83

1261 -0.69 -145.9 2655 2759 3920 3794 254.8 -15.6 154 1262 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2760 3856 3919 3794 0 0 0 0 0 0 28.83 28.83 28.83

1561 -0.69 -145.9 2656 2760 3920 3794 300.2 -14.6 164 1562 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2760 3856 3919 3794 0 0 0 0 0 0 28.83 28.83 28.83

1861 -0.69 -145.9 2655 2760 3920 3794 342.2 -13.7 174 1866 0.00 2.33 0.00 0.000 516 0.000 0.065 2655 1373 3856 3919 3793 0 0 0 0 0 0 28.83 14.52 28.83

1906 -0.69 -145.9 2656 1375 3919 3795 348.1 -12.0 183 1911 0.00 2.45 0.00 0.000 1030 0.000 0.097 2644 2763 3856 3919 3794 0 0 0 0 0 0 28.83 14.50 28.83

2221 -0.69 -145.9 2645 2763 3920 3794 392.2 -14.0 196 2222 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2763 3856 3919 3794 0 0 0 0 0 0 28.83 28.83 28.83

2521 -0.69 -145.9 2645 2763 3920 3793 434.0 -13.8 206 2522 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2763 3856 3919 3794 0 0 0 0 0 0 28.83 28.83 28.83

2821 -0.69 -145.9 2644 2763 3920 3794 475.3 -13.8 216 2822 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2763 3855 3918 3793 0 0 0 0 0 0 28.83 28.83 28.83

3121 -0.69 -145.9 2645 2764 3920 3795 516.5 -13.6 226 3122 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2763 3856 3919 3794 0 0 0 0 0 0 28.83 28.83 28.83

3421 -0.69 -145.9 2645 2763 3920 3794 556.7 -13.3 236 3422 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2763 3856 3919 3794 0 0 0 0 0 0 28.83 28.83 28.83

3721 -0.69 -145.9 2645 2764 3920 3794 596.8 -13.3 246 3722 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2763 3856 3918 3794 0 0 0 0 0 0 28.83 28.83 28.83

4021 -0.69 -145.9 2645 2764 3920 3795 636.5 -13.2 256 4022 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2763 3855 3919 3792 0 0 0 0 0 0 28.83 28.83 28.83

4321 -0.69 -145.9 2645 2764 3920 3795 676.1 -13.1 266 4322 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2763 3856 3919 3794 0 0 0 0 0 0 28.83 28.83 28.83

4621 -0.69 -145.9 2644 2764 3920 3794 715.1 -13.0 276 4622 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2763 3856 3919 3793 0 0 0 0 0 0 28.83 28.83 28.83

4919 end dive: TARGET_DEPTH_EXCEEDED

state 4919 begin apogee

4924 -0.13 0.0 2645 2768 3920 3795 753.4 -12.7 286 5052 0.75 0.00 125.80 1.997 10246 0.226 0.000 2845 2763 3258 3279 3237 0 0 0 0 0 0 14.42 28.83 13.12

5053 end apogee: CONTROL_FINISHED_OK

state 5053 begin climb

5055 0.69 145.9 2846 2764 3275 3234 757.2 0.0 290 5184 0.90 0.00 125.68 1.830 10758 0.118 0.000 3115 2764 2662 2667 2657 0 0 0 0 0 0 13.80 28.83 12.69

5461 0.69 145.9 3116 2764 2664 2646 714.5 13.6 309 5466 0.00 2.47 0.00 0.000 516 0.000 0.064 3125 1353 2654 2663 2645 0 0 0 0 0 0 28.83 14.00 28.83

5481 0.69 145.9 3126 1352 2664 2646 712.0 12.8 313 5486 0.00 2.53 0.00 0.000 1030 0.000 0.089 3125 2743 2654 2664 2645 0 0 0 0 0 0 28.83 14.01 28.83

5791 0.69 145.9 3126 2743 2665 2645 668.8 14.0 325 5792 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2743 2654 2664 2645 0 0 0 0 0 0 28.83 28.83 28.83

6091 0.69 145.9 3126 2744 2665 2645 627.5 13.7 335 6092 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2743 2654 2664 2644 0 0 0 0 0 0 28.83 28.83 28.83

6391 0.69 145.9 3126 2743 2665 2645 586.5 13.8 345 6392 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2743 2654 2664 2644 0 0 0 0 0 0 28.83 28.83 28.83

6691 0.69 145.9 3126 2744 2664 2645 545.3 13.6 355 6692 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2743 2653 2662 2644 0 0 0 0 0 0 28.83 28.83 28.83

6991 0.69 145.9 3126 2743 2665 2644 504.7 13.5 365 6996 0.00 1.85 0.00 0.000 260 0.000 0.097 3125 3779 2654 2664 2644 0 0 0 0 0 0 28.83 14.44 28.83

7046 0.69 145.9 3126 3779 2665 2644 496.3 15.6 376 7052 0.00 1.67 0.00 0.000 1030 0.000 0.050 3131 2745 2654 2664 2644 0 0 0 0 0 0 28.83 14.57 28.83

7351 0.69 145.9 3132 2744 2666 2644 454.0 13.8 387 7352 0.00 0.00 0.00 0.000 6 0.000 0.000 3131 2745 2654 2664 2644 0 0 0 0 0 0 28.83 28.83 28.83

7651 0.69 145.9 3132 2744 2665 2644 413.0 13.7 397 7652 0.00 0.00 0.00 0.000 6 0.000 0.000 3131 2744 2654 2664 2644 0 0 0 0 0 0 28.83 28.83 28.83

7951 0.69 145.9 3131 2744 2665 2644 372.9 13.3 407 7952 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2744 2651 2664 2639 0 0 0 0 0 0 28.83 28.83 28.83

8252 0.69 145.9 3132 2744 2665 2645 334.1 12.8 417 8253 0.00 0.00 0.00 0.000 6 0.000 0.000 3131 2744 2654 2664 2644 0 0 0 0 0 0 28.83 28.83 28.83

8551 0.69 145.9 3132 2744 2665 2644 297.4 12.1 427 8556 0.00 2.35 0.00 0.000 516 0.000 0.065 3142 1345 2654 2664 2644 0 0 0 0 0 0 28.83 14.45 28.83

8581 0.70 163.1 3143 1346 2666 2645 294.0 10.7 433 8602 0.00 2.45 14.43 1.353 9222 0.000 0.090 3143 2740 2591 2596 2587 0 0 0 0 0 0 28.83 14.42 13.84

8911 0.70 163.1 3143 2741 2597 2580 252.3 12.4 449 8912 0.00 0.00 0.00 0.000 6 0.000 0.000 3143 2740 2587 2595 2580 0 0 0 0 0 0 28.83 28.83 28.83

9211 0.74 214.4 3142 2740 2597 2580 220.2 8.9 477 9256 0.00 0.00 43.55 1.264 8198 0.000 0.000 3142 2740 2381 2383 2380 0 0 0 0 0 0 28.83 28.83 13.64

9552 0.76 241.9 3143 2741 2379 2370 185.8 10.2 511 9577 0.00 0.00 23.20 1.251 8710 0.000 0.000 3142 2740 2272 2274 2270 0 0 0 0 0 0 28.83 28.83 13.64

9883 0.78 275.9 3143 2740 2268 2257 151.9 9.8 547 9918 0.00 2.40 29.30 1.210 8708 0.000 0.067 3151 1352 2127 2130 2125 0 0 0 0 0 0 28.83 14.23 13.65

9947 0.81 316.0 3152 1354 2127 2123 145.5 9.5 558 9988 0.00 2.47 34.40 1.210 9222 0.000 0.091 3151 2736 1967 1967 1968 0 0 0 0 0 0 28.83 14.23 13.57

10293 0.82 327.6 3151 2736 1960 1954 106.1 11.0 597 10304 0.00 2.42 4.05 1.187 8708 0.000 0.067 3157 1355 1925 1926 1924 0 0 0 0 0 0 28.83 14.26 13.65

10349 0.84 361.7 3158 1357 1935 1925 100.5 9.8 608 10370 0.00 2.47 16.90 0.496 9222 0.000 0.091 3157 2739 1782 1781 1784 0 0 0 0 0 0 28.83 14.23 13.90

10675 0.87 409.3 3157 2739 1790 1779 66.2 9.1 643 10698 0.00 0.00 21.83 0.383 8710 0.000 0.000 3155 2739 1587 1593 1582 0 0 0 0 0 0 28.83 28.83 14.00

10996 0.96 537.3 3157 2739 1601 1573 43.4 4.8 677 11061 0.12 2.42 57.25 0.314 10756 0.121 0.067 3221 1363 1065 1072 1059 0 0 0 0 0 0 14.32 14.19 14.02

11081 0.99 579.7 3222 1363 1074 1060 36.7 9.4 694 11108 0.00 2.45 19.33 0.298 9222 0.000 0.090 3221 2732 891 888 895 0 0 0 0 0 0 28.83 14.19 14.00

11407 1.07 688.3 3222 2733 887 888 10.9 5.9 729 11458 0.00 2.42 43.85 0.229 8708 0.000 0.068 3221 1359 497 447 548 0 0 0 0 0 0 28.83 14.21 14.09

11502 1.13 771.3 3222 1360 448 550 4.3 7.2 747 11508 0.12 2.45 0.00 0.000 3078 0.136 0.092 3268 2725 498 448 548 0 0 0 0 0 0 14.24 14.21 28.83

11531 end climb: SURFACE_DEPTH_REACHED

state 11531 begin surface coast

11552 end surface coast: CONTROL_FINISHED_OK

state 11552 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	247	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	58	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	20	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	-5678.9678	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	300814,142424,7351.934,-14430.335,5,0.8,25,23.1	SPEED_LIMITS	0.201,0.252
_CALLS	1	TGT_NAME	8
_XMS_NAKs	0	TGT_LATLONG	7340.000,-14510.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	3.18	MHEAD_RNG_PITCHd_Wd	200.0,30254,-22.3,-11.628,-24.76,1933
_SM_ANGLEo	-75.8	D_GRID	1000
GPS2	300814,142424,7351.934,-14430.335,5,0.8,25,23.1

FREEZE	0.80,-1.302,-1.430,2,2,0	_24V_AH	12.69,75.112
FINISH	0.8,1.021093	_10V_AH	13.03,0.000
SM_CCo	11629,0.00,0.000,0,0,495,677.76	FG_AHR_24Vo	0.000
SM_GC	1.86,9.52,0.05,0.00,0.089,0.233,0.000,195,2775,495,-8.36,-0.74,677.76,0,0,0,0,0,0,14.35,14.31,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	172	MEM	221736
RAFOS_FIX	7324.021484,-14457.928711,260814,121206,2,255,0.38	DATA_FILE_SIZE	26733,753
IRIDIUM_FIX	7312.24,-14422.33,300814,033451	CAP_FILE_SIZE	118599,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2044133376
HUMID	44.32	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.55303	INTR	1,4921.67,0x2378b6,2,5
TCM_TEMP	12.50	SOUNDSPEED	1447.6
XPDR_PINGS	6	GPS	300814,205924,7349.386,-14437.749,26,1.0,46,23.1
SC_FREEKB	3828000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	396	117.67	nil	0	0	0.00
Roll_motor	42	232	125.57	nil	0	0	0.00
VBD_pump_during_apogee	559	1996	14177.59	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	11589	18	2776.87
Iridium_during_xfer	0	0	0.00	TMICL	0	0	0.00
Transponder_ping	1	420	7.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	9449	2	284.43
TT8_Active	626	9	77.28
TT8_Sampling	1540	28	581.08
TT8_CF8	121	35	56.57
TT8_Kalman	0	0	0.00
Analog_circuits	1239	10	161.55
GPS_charging	0	0	0.00
Compass	1130	0	11.05
RAFOS	1479	48	925.03
Transponder	0	5	0.04

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	201	2742	442	549	0.0	0.0	0	32	0.00	0.00	-14.98	0.000	16386	0.000	0.000	200	2742	938	938	939	0	0	0	0	0	0	28.83	28.83	28.83
34	-0.69	-145.9	201	2743	939	940	3.1	0.0	1	142	11.98	2.40	-88.05	0.000	18948	0.396	0.090	2663	1376	3853	3919	3788	0	0	0	0	0	0	14.06	14.31	14.53
341	-0.69	-145.9	2665	1374	3919	3794	74.2	-21.5	63	346	0.00	2.47	0.00	0.000	1030	0.000	0.096	2655	2760	3856	3919	3794	0	0	0	0	0	0	28.83	14.31	28.83
651	-0.69	-145.9	2655	2760	3922	3794	143.3	-21.0	95	652	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2760	3856	3919	3794	0	0	0	0	0	0	28.83	28.83	28.83
951	-0.69	-145.9	2656	2760	3920	3795	202.2	-19.2	125	952	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2760	3856	3919	3794	0	0	0	0	0	0	28.83	28.83	28.83
1261	-0.69	-145.9	2655	2759	3920	3794	254.8	-15.6	154	1262	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2760	3856	3919	3794	0	0	0	0	0	0	28.83	28.83	28.83
1561	-0.69	-145.9	2656	2760	3920	3794	300.2	-14.6	164	1562	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2760	3856	3919	3794	0	0	0	0	0	0	28.83	28.83	28.83
1861	-0.69	-145.9	2655	2760	3920	3794	342.2	-13.7	174	1866	0.00	2.33	0.00	0.000	516	0.000	0.065	2655	1373	3856	3919	3793	0	0	0	0	0	0	28.83	14.52	28.83
1906	-0.69	-145.9	2656	1375	3919	3795	348.1	-12.0	183	1911	0.00	2.45	0.00	0.000	1030	0.000	0.097	2644	2763	3856	3919	3794	0	0	0	0	0	0	28.83	14.50	28.83
2221	-0.69	-145.9	2645	2763	3920	3794	392.2	-14.0	196	2222	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2763	3856	3919	3794	0	0	0	0	0	0	28.83	28.83	28.83
2521	-0.69	-145.9	2645	2763	3920	3793	434.0	-13.8	206	2522	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2763	3856	3919	3794	0	0	0	0	0	0	28.83	28.83	28.83
2821	-0.69	-145.9	2644	2763	3920	3794	475.3	-13.8	216	2822	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2763	3855	3918	3793	0	0	0	0	0	0	28.83	28.83	28.83
3121	-0.69	-145.9	2645	2764	3920	3795	516.5	-13.6	226	3122	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2763	3856	3919	3794	0	0	0	0	0	0	28.83	28.83	28.83
3421	-0.69	-145.9	2645	2763	3920	3794	556.7	-13.3	236	3422	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2763	3856	3919	3794	0	0	0	0	0	0	28.83	28.83	28.83
3721	-0.69	-145.9	2645	2764	3920	3794	596.8	-13.3	246	3722	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2763	3856	3918	3794	0	0	0	0	0	0	28.83	28.83	28.83
4021	-0.69	-145.9	2645	2764	3920	3795	636.5	-13.2	256	4022	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2763	3855	3919	3792	0	0	0	0	0	0	28.83	28.83	28.83
4321	-0.69	-145.9	2645	2764	3920	3795	676.1	-13.1	266	4322	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2763	3856	3919	3794	0	0	0	0	0	0	28.83	28.83	28.83
4621	-0.69	-145.9	2644	2764	3920	3794	715.1	-13.0	276	4622	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2763	3856	3919	3793	0	0	0	0	0	0	28.83	28.83	28.83
4919	end dive: TARGET_DEPTH_EXCEEDED
state	4919	begin apogee
4924	-0.13	0.0	2645	2768	3920	3795	753.4	-12.7	286	5052	0.75	0.00	125.80	1.997	10246	0.226	0.000	2845	2763	3258	3279	3237	0	0	0	0	0	0	14.42	28.83	13.12
5053	end apogee: CONTROL_FINISHED_OK
state	5053	begin climb
5055	0.69	145.9	2846	2764	3275	3234	757.2	0.0	290	5184	0.90	0.00	125.68	1.830	10758	0.118	0.000	3115	2764	2662	2667	2657	0	0	0	0	0	0	13.80	28.83	12.69
5461	0.69	145.9	3116	2764	2664	2646	714.5	13.6	309	5466	0.00	2.47	0.00	0.000	516	0.000	0.064	3125	1353	2654	2663	2645	0	0	0	0	0	0	28.83	14.00	28.83
5481	0.69	145.9	3126	1352	2664	2646	712.0	12.8	313	5486	0.00	2.53	0.00	0.000	1030	0.000	0.089	3125	2743	2654	2664	2645	0	0	0	0	0	0	28.83	14.01	28.83
5791	0.69	145.9	3126	2743	2665	2645	668.8	14.0	325	5792	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2743	2654	2664	2645	0	0	0	0	0	0	28.83	28.83	28.83
6091	0.69	145.9	3126	2744	2665	2645	627.5	13.7	335	6092	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2743	2654	2664	2644	0	0	0	0	0	0	28.83	28.83	28.83
6391	0.69	145.9	3126	2743	2665	2645	586.5	13.8	345	6392	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2743	2654	2664	2644	0	0	0	0	0	0	28.83	28.83	28.83
6691	0.69	145.9	3126	2744	2664	2645	545.3	13.6	355	6692	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2743	2653	2662	2644	0	0	0	0	0	0	28.83	28.83	28.83
6991	0.69	145.9	3126	2743	2665	2644	504.7	13.5	365	6996	0.00	1.85	0.00	0.000	260	0.000	0.097	3125	3779	2654	2664	2644	0	0	0	0	0	0	28.83	14.44	28.83
7046	0.69	145.9	3126	3779	2665	2644	496.3	15.6	376	7052	0.00	1.67	0.00	0.000	1030	0.000	0.050	3131	2745	2654	2664	2644	0	0	0	0	0	0	28.83	14.57	28.83
7351	0.69	145.9	3132	2744	2666	2644	454.0	13.8	387	7352	0.00	0.00	0.00	0.000	6	0.000	0.000	3131	2745	2654	2664	2644	0	0	0	0	0	0	28.83	28.83	28.83
7651	0.69	145.9	3132	2744	2665	2644	413.0	13.7	397	7652	0.00	0.00	0.00	0.000	6	0.000	0.000	3131	2744	2654	2664	2644	0	0	0	0	0	0	28.83	28.83	28.83
7951	0.69	145.9	3131	2744	2665	2644	372.9	13.3	407	7952	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	2744	2651	2664	2639	0	0	0	0	0	0	28.83	28.83	28.83
8252	0.69	145.9	3132	2744	2665	2645	334.1	12.8	417	8253	0.00	0.00	0.00	0.000	6	0.000	0.000	3131	2744	2654	2664	2644	0	0	0	0	0	0	28.83	28.83	28.83
8551	0.69	145.9	3132	2744	2665	2644	297.4	12.1	427	8556	0.00	2.35	0.00	0.000	516	0.000	0.065	3142	1345	2654	2664	2644	0	0	0	0	0	0	28.83	14.45	28.83
8581	0.70	163.1	3143	1346	2666	2645	294.0	10.7	433	8602	0.00	2.45	14.43	1.353	9222	0.000	0.090	3143	2740	2591	2596	2587	0	0	0	0	0	0	28.83	14.42	13.84
8911	0.70	163.1	3143	2741	2597	2580	252.3	12.4	449	8912	0.00	0.00	0.00	0.000	6	0.000	0.000	3143	2740	2587	2595	2580	0	0	0	0	0	0	28.83	28.83	28.83
9211	0.74	214.4	3142	2740	2597	2580	220.2	8.9	477	9256	0.00	0.00	43.55	1.264	8198	0.000	0.000	3142	2740	2381	2383	2380	0	0	0	0	0	0	28.83	28.83	13.64
9552	0.76	241.9	3143	2741	2379	2370	185.8	10.2	511	9577	0.00	0.00	23.20	1.251	8710	0.000	0.000	3142	2740	2272	2274	2270	0	0	0	0	0	0	28.83	28.83	13.64
9883	0.78	275.9	3143	2740	2268	2257	151.9	9.8	547	9918	0.00	2.40	29.30	1.210	8708	0.000	0.067	3151	1352	2127	2130	2125	0	0	0	0	0	0	28.83	14.23	13.65
9947	0.81	316.0	3152	1354	2127	2123	145.5	9.5	558	9988	0.00	2.47	34.40	1.210	9222	0.000	0.091	3151	2736	1967	1967	1968	0	0	0	0	0	0	28.83	14.23	13.57
10293	0.82	327.6	3151	2736	1960	1954	106.1	11.0	597	10304	0.00	2.42	4.05	1.187	8708	0.000	0.067	3157	1355	1925	1926	1924	0	0	0	0	0	0	28.83	14.26	13.65
10349	0.84	361.7	3158	1357	1935	1925	100.5	9.8	608	10370	0.00	2.47	16.90	0.496	9222	0.000	0.091	3157	2739	1782	1781	1784	0	0	0	0	0	0	28.83	14.23	13.90
10675	0.87	409.3	3157	2739	1790	1779	66.2	9.1	643	10698	0.00	0.00	21.83	0.383	8710	0.000	0.000	3155	2739	1587	1593	1582	0	0	0	0	0	0	28.83	28.83	14.00
10996	0.96	537.3	3157	2739	1601	1573	43.4	4.8	677	11061	0.12	2.42	57.25	0.314	10756	0.121	0.067	3221	1363	1065	1072	1059	0	0	0	0	0	0	14.32	14.19	14.02
11081	0.99	579.7	3222	1363	1074	1060	36.7	9.4	694	11108	0.00	2.45	19.33	0.298	9222	0.000	0.090	3221	2732	891	888	895	0	0	0	0	0	0	28.83	14.19	14.00
11407	1.07	688.3	3222	2733	887	888	10.9	5.9	729	11458	0.00	2.42	43.85	0.229	8708	0.000	0.068	3221	1359	497	447	548	0	0	0	0	0	0	28.83	14.21	14.09
11502	1.13	771.3	3222	1360	448	550	4.3	7.2	747	11508	0.12	2.45	0.00	0.000	3078	0.136	0.092	3268	2725	498	448	548	0	0	0	0	0	0	14.24	14.21	28.83
11531	end climb: SURFACE_DEPTH_REACHED
state	11531	begin surface coast
11552	end surface coast: CONTROL_FINISHED_OK
state	11552	begin surface