Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 26 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 0 C_ROLL_CLIMB 2840 ALTIM_FREQUENCY 13

MISSION 7 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 26 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 31 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 17 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 681.01007 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.75

D_ABORT 600 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 3317 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 3 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 140 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 180 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 20 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 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 -4706.7749 PITCH_W_GAIN 0 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044209026

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00065043929

T_WATCHDOG 10 PITCH_MIN 208 MINV_10V 11 SEABIRD_T_I 2.5803243e-05

RELAUNCH 1 PITCH_MAX 3896 FG_AHR_10V 0 SEABIRD_T_J 3.1106315e-06

APOGEE_PITCH -5 C_PITCH 2909 FG_AHR_24V 0 SEABIRD_C_G -9.7475271

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1204907

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -73.350418 SEABIRD_C_I -0.00083350006

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001164176 SEABIRD_C_J 0.00013962483

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 38 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54281 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 160 COMPASS_USE 4 TM_RECORDABOVE 2000.0

NAV_MODE 10 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 10 TM_LOGSAMPLE 0.0

HD_A 0.0043000001 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3787 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 4.3e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 400

HEADING -1 C_ROLL_DIVE 2700 ALTIM_PING_DELTA 20

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 500 PITCH_GAIN 38 SURFACE_URGENCY_FORCE 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3896 SURFACE_URGENCY_TRY 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 10 FERRY_MAX 45 PITCH_MIN 208 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 20 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 TGT_DEFAULT_LAT 4736

ALTIM_PING_DEPTH 400 FILEMGR 0 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001164176 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -73.350418 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0043000001 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 4.3e-06 P_OVSHOOT_WITHG 0 T_ABORT 1440

CALL_NDIVES 1 HEADING -1 RAFOS_CORR_THRESH 60 T_BOOST 4

CALL_TRIES 3 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 140

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_GPS 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 -4706.7749

COMM_SEQ 0 INT_PRESSURE_YINT 0.75 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_MISSION 180

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 71 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_DEG 40 T_TURN 225

C_PITCH 2909 LOGGERDEVICE4 -1 ROLL_MAX 3787 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2840 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2700 MASS 54281 ROLL_MIN 218 UNCOM_BLEED 20

C_VBD 3317 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 31 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 17 USE_ICE 0

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 7 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 10 SEABIRD_C_G -9.7475271 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1204907 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.00083350006 VBD_MIN 500

DIVE 26 N_FILEKB 8 SEABIRD_C_J 0.00013962483 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 N_GPS -20 SEABIRD_T_G 0.0044209026 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00065043929 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.5803243e-05 W_ADJ_DBAND 0

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.1106315e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 2 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.02 SM_CC 681.01007

D_PITCH 0 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 0 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 290714,224224,7101.633,-14422.211,24,0.9,44,22.4 SPEED_LIMITS 0.206,0.254

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.39 MHEAD_RNG_PITCHd_Wd 334.0,64065,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -77.6 D_GRID 1000

GPS2 290714,225302,7101.623,-14422.217,5,0.8,25,22.4

Post-dive calculations and measurements:

FREEZE 14.11,2.526,-1.472,0,1,0 _10V_AH 13.30,0.000

SM_CCo 8068,127.28,0.227,0,0,498,691.01 FG_AHR_24Vo 0.000

SM_GC 1.35,9.80,0.20,0.00,0.116,0.099,0.000,206,2709,495,-8.41,1.41,692.48,0,0,0,0,0,0,14.33,14.37,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 210 MEM 303616

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 20093,623

IRIDIUM_FIX 7026.32,-14346.19,290714,201606 CAP_FILE_SIZE 118063,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2086666240

HUMID 46.53 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.5921 INTR 0,9011.39,0x2378b6,7,5

TCM_TEMP 13.20 SOUNDSPEED 1449.2

XPDR_PINGS 8 EKF 8415,4262.739258,-8662.198242,14.108429,-0.008743,0.012544,0.007395,0.000153,0.001452,0.000095,0.000025,0.000025,0.000034

SC_FREEKB 3926496 CURRENT 0.038,111.77,1

TM_FREEKB 7627008 GPS 300714,011331,7102.674,-14421.701,12,0.8,32,22.4

_24V_AH 13.05,9.716

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 407 133.96 nil 0 0 0.00

Roll_motor 46 120 72.33 nil 0 0 0.00

VBD_pump_during_apogee 440 1698 9768.26 nil 0 0 0.00

VBD_pump_during_surface 127 227 377.37 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 8080 15 1590.94

Iridium_during_xfer 407 179 951.54 TMICL 8131 13 1385.58

Transponder_ping 3 420 19.18 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.37

TT8 0 0 0.00

LPSleep 6224 2 191.25

TT8_Active 708 9 89.21

TT8_Sampling 1981 28 762.82

TT8_CF8 72 35 34.23

TT8_Kalman 0 0 0.00

Analog_circuits 1685 10 224.16

GPS_charging 0 0 0.00

Compass 930 0 9.28

RAFOS 1438 48 918.02

Transponder 13 30 5.43

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

20 -0.70 -145.9 181 2707 489 581 0.0 0.0 0 96 0.00 0.00 -72.65 0.000 16386 0.000 0.000 178 2708 2451 2458 2444 0 0 0 0 0 0 28.83 28.83 28.83

98 -0.70 -145.9 179 2708 2459 2445 4.2 -5.9 7 139 12.38 0.00 -23.23 0.000 19206 0.408 0.000 2674 2708 3914 3972 3856 0 0 0 0 0 0 14.07 28.83 14.45

444 -0.61 -145.9 2674 2708 3977 3861 88.5 -20.2 44 447 0.15 0.00 0.00 0.000 2054 0.301 0.000 2705 2708 3921 3975 3867 0 0 0 0 0 0 14.26 28.83 28.83

743 -0.61 -145.9 2706 2708 3976 3866 136.7 -15.2 74 746 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2708 3918 3975 3861 0 0 0 0 0 0 28.83 28.83 28.83

1043 -0.66 -145.9 2706 2708 3976 3861 178.1 -12.5 104 1046 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2708 3918 3975 3861 0 0 0 0 0 0 28.83 28.83 28.83

1344 -0.73 -145.9 2706 2708 3976 3861 212.3 -11.0 134 1346 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2708 3918 3975 3861 0 0 0 0 0 0 28.83 28.83 28.83

1643 -0.81 -145.9 2706 2709 3975 3862 245.2 -10.7 164 1647 0.17 0.00 0.00 0.000 4102 0.113 0.000 2639 2708 3917 3974 3860 0 0 0 0 0 0 14.51 28.83 28.83

1954 -0.81 -145.9 2639 2708 3974 3860 288.6 -14.2 177 1962 0.00 1.90 0.00 0.000 260 0.000 0.110 2629 3792 3916 3973 3860 0 0 0 0 0 0 28.83 14.49 28.83

2041 -0.74 -145.9 2631 3794 3974 3860 302.6 -16.3 194 2051 0.12 1.85 0.00 0.000 3078 0.252 0.062 2676 2690 3916 3972 3860 0 0 0 0 0 0 14.37 14.51 28.83

2346 -0.79 -145.9 2677 2691 3973 3861 339.2 -11.8 205 2350 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2690 3916 3972 3860 0 0 0 0 0 0 28.83 28.83 28.83

2646 -0.84 -145.9 2676 2690 3972 3860 373.9 -11.4 215 2654 0.12 1.92 0.00 0.000 4356 0.140 0.107 2619 3793 3915 3971 3860 0 0 0 0 0 0 14.57 14.52 28.83

2718 -0.76 -145.9 2619 3789 3971 3861 385.1 -17.0 229 2726 0.17 1.77 0.00 0.000 3078 0.272 0.062 2657 2696 3915 3970 3860 0 0 0 0 0 0 14.44 14.58 28.83

3040 -0.76 -145.9 2658 2695 3971 3860 425.3 -12.2 243 3042 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2696 3914 3969 3859 0 0 0 0 0 0 28.83 28.83 28.83

3341 -0.76 -145.9 2658 2696 3971 3860 462.1 -12.2 253 3349 0.00 1.92 0.00 0.000 260 0.000 0.110 2651 3798 3914 3970 3859 0 0 0 0 0 0 28.83 14.54 28.83

3417 -0.76 -145.9 2652 3799 3970 3860 472.5 -13.7 268 3425 0.00 1.83 0.00 0.000 1030 0.000 0.061 2651 2698 3914 3969 3859 0 0 0 0 0 0 28.83 14.58 28.83

3645 end dive: TARGET_DEPTH_EXCEEDED

state 3645 begin apogee

3648 -0.13 0.0 2651 2853 3970 3860 501.3 -12.7 278 3775 0.77 0.00 121.85 1.698 10246 0.241 0.000 2857 2852 3314 3332 3296 0 0 0 0 0 0 14.45 28.83 13.24

3777 end apogee: CONTROL_FINISHED_OK

state 3777 begin climb

3778 0.70 145.9 2854 2853 3333 3294 505.0 0.0 282 3911 0.93 0.00 122.45 1.619 10246 0.138 0.000 3129 2852 2721 2728 2714 0 0 0 0 0 0 13.85 28.83 13.05

4185 0.62 145.9 3130 2853 2725 2702 460.7 13.6 296 4192 0.00 2.45 0.00 0.000 516 0.000 0.073 3139 1447 2713 2724 2702 0 0 0 0 0 0 28.83 14.12 28.83

4211 0.57 145.9 3139 1444 2725 2703 457.3 12.4 301 4221 0.17 2.53 0.00 0.000 5126 0.265 0.097 3101 2842 2713 2724 2703 0 0 0 0 0 0 14.02 14.12 28.83

4517 0.58 151.0 3102 2842 2725 2702 421.4 11.6 312 4521 0.00 0.00 1.25 0.273 8198 0.000 0.000 3101 2842 2699 2711 2688 0 0 0 0 0 0 28.83 28.83 14.14

4817 0.58 156.9 3103 2843 2732 2693 386.6 11.6 322 4833 0.00 2.50 10.00 1.529 8708 0.000 0.074 3110 1442 2672 2685 2659 0 0 0 0 0 0 28.83 14.23 13.64

4877 0.59 168.5 3111 1443 2684 2658 379.9 11.3 333 4895 0.00 2.50 11.25 1.564 9222 0.000 0.098 3110 2839 2628 2639 2617 0 0 0 0 0 0 28.83 14.23 13.59

5219 0.59 168.5 3111 2840 2636 2609 337.2 12.5 350 5222 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2840 2621 2635 2608 0 0 0 0 0 0 28.83 28.83 28.83

5519 0.59 168.5 3111 2838 2636 2605 299.5 12.4 360 5528 0.00 2.40 0.00 0.000 516 0.000 0.074 3118 1441 2622 2637 2607 0 0 0 0 0 0 28.83 14.37 28.83

5552 0.60 178.7 3119 1443 2636 2609 295.7 11.3 366 5568 0.00 2.47 9.43 1.454 9222 0.000 0.098 3118 2842 2585 2596 2575 0 0 0 0 0 0 28.83 14.36 13.73

5887 0.60 178.7 3119 2843 2594 2571 252.3 13.2 382 5890 0.00 0.00 0.00 0.000 6 0.000 0.000 3118 2842 2581 2593 2570 0 0 0 0 0 0 28.83 28.83 28.83

6187 0.60 178.7 3120 2843 2601 2570 213.9 12.2 410 6197 0.00 2.38 0.00 0.000 516 0.000 0.074 3125 1445 2582 2594 2570 0 0 0 0 0 0 28.83 14.43 28.83

6245 0.61 200.6 3126 1444 2595 2569 207.6 10.7 421 6270 0.00 2.47 19.00 1.414 9222 0.000 0.099 3125 2842 2499 2507 2491 0 0 0 0 0 0 28.83 14.43 13.71

6564 0.62 216.2 3126 2842 2503 2481 169.9 11.1 454 6586 0.00 2.40 14.45 1.391 8708 0.000 0.071 3133 1450 2428 2437 2420 0 0 0 0 0 0 28.83 14.27 13.71

6616 0.71 255.5 3134 1451 2435 2420 164.5 9.8 463 6657 0.00 2.47 33.45 1.280 9222 0.000 0.098 3133 2839 2270 2272 2268 0 0 0 0 0 0 28.83 14.28 13.62

6961 0.73 288.5 3133 2839 2272 2258 126.3 10.1 500 6996 0.00 2.45 27.85 1.252 8708 0.000 0.073 3138 1440 2134 2137 2131 0 0 0 0 0 0 28.83 14.14 13.71

7030 0.88 341.1 3139 1440 2136 2127 119.4 9.0 512 7085 0.17 2.53 43.03 1.193 11270 0.110 0.099 3205 2839 1919 1910 1928 0 0 0 0 0 0 14.21 14.16 13.52

7379 0.88 341.1 3205 2839 1909 1917 65.8 14.1 550 7390 0.00 2.42 0.00 0.000 516 0.000 0.074 3215 1442 1912 1909 1916 0 0 0 0 0 0 28.83 14.26 28.83

7424 0.88 341.1 3217 1443 1909 1917 59.9 13.1 558 7433 0.00 2.50 0.00 0.000 1030 0.000 0.098 3214 2837 1912 1908 1916 0 0 0 0 0 0 28.83 14.24 28.83

7737 0.90 374.3 3215 2837 1910 1914 25.7 10.1 590 7754 0.00 0.00 13.52 0.269 8198 0.000 0.000 3214 2836 1788 1780 1797 0 0 0 0 0 0 28.83 28.83 14.24

8048 1.15 577.6 3214 2837 1786 1795 14.1 0.8 621 8065 0.20 0.00 13.23 0.240 10754 0.106 0.000 3291 2836 1669 1661 1677 0 0 0 0 0 0 14.43 28.83 28.83

8065 end climb: NO_VERTICAL_VELOCITY

state 8065 begin surface

ID	196	ESCAPE_HEADING	0	C_ROLL_CLIMB	2840	ALTIM_FREQUENCY	13
MISSION	7	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	26	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	31	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	17	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	681.01007	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.75
D_ABORT	600	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	3317	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	3	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	140	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	180	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	20	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	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	-4706.7749	PITCH_W_GAIN	0	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044209026
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00065043929
T_WATCHDOG	10	PITCH_MIN	208	MINV_10V	11	SEABIRD_T_I	2.5803243e-05
RELAUNCH	1	PITCH_MAX	3896	FG_AHR_10V	0	SEABIRD_T_J	3.1106315e-06
APOGEE_PITCH	-5	C_PITCH	2909	FG_AHR_24V	0	SEABIRD_C_G	-9.7475271
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1204907
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-73.350418	SEABIRD_C_I	-0.00083350006
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001164176	SEABIRD_C_J	0.00013962483
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	38	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54281	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	160	COMPASS_USE	4	TM_RECORDABOVE	2000.0
NAV_MODE	10	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	10	TM_LOGSAMPLE	0.0
HD_A	0.0043000001	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3787	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	4.3e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	400
HEADING	-1	C_ROLL_DIVE	2700	ALTIM_PING_DELTA	20

GPS1	290714,224224,7101.633,-14422.211,24,0.9,44,22.4	SPEED_LIMITS	0.206,0.254
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.39	MHEAD_RNG_PITCHd_Wd	334.0,64065,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-77.6	D_GRID	1000
GPS2	290714,225302,7101.623,-14422.217,5,0.8,25,22.4

FREEZE	14.11,2.526,-1.472,0,1,0	_10V_AH	13.30,0.000
SM_CCo	8068,127.28,0.227,0,0,498,691.01	FG_AHR_24Vo	0.000
SM_GC	1.35,9.80,0.20,0.00,0.116,0.099,0.000,206,2709,495,-8.41,1.41,692.48,0,0,0,0,0,0,14.33,14.37,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	210	MEM	303616
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	20093,623
IRIDIUM_FIX	7026.32,-14346.19,290714,201606	CAP_FILE_SIZE	118063,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2086666240
HUMID	46.53	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.5921	INTR	0,9011.39,0x2378b6,7,5
TCM_TEMP	13.20	SOUNDSPEED	1449.2
XPDR_PINGS	8	EKF	8415,4262.739258,-8662.198242,14.108429,-0.008743,0.012544,0.007395,0.000153,0.001452,0.000095,0.000025,0.000025,0.000034
SC_FREEKB	3926496	CURRENT	0.038,111.77,1
TM_FREEKB	7627008	GPS	300714,011331,7102.674,-14421.701,12,0.8,32,22.4
_24V_AH	13.05,9.716

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	407	133.96	nil	0	0	0.00
Roll_motor	46	120	72.33	nil	0	0	0.00
VBD_pump_during_apogee	440	1698	9768.26	nil	0	0	0.00
VBD_pump_during_surface	127	227	377.37	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	8080	15	1590.94
Iridium_during_xfer	407	179	951.54	TMICL	8131	13	1385.58
Transponder_ping	3	420	19.18	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.37
TT8	0	0	0.00
LPSleep	6224	2	191.25
TT8_Active	708	9	89.21
TT8_Sampling	1981	28	762.82
TT8_CF8	72	35	34.23
TT8_Kalman	0	0	0.00
Analog_circuits	1685	10	224.16
GPS_charging	0	0	0.00
Compass	930	0	9.28
RAFOS	1438	48	918.02
Transponder	13	30	5.43

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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
20	-0.70	-145.9	181	2707	489	581	0.0	0.0	0	96	0.00	0.00	-72.65	0.000	16386	0.000	0.000	178	2708	2451	2458	2444	0	0	0	0	0	0	28.83	28.83	28.83
98	-0.70	-145.9	179	2708	2459	2445	4.2	-5.9	7	139	12.38	0.00	-23.23	0.000	19206	0.408	0.000	2674	2708	3914	3972	3856	0	0	0	0	0	0	14.07	28.83	14.45
444	-0.61	-145.9	2674	2708	3977	3861	88.5	-20.2	44	447	0.15	0.00	0.00	0.000	2054	0.301	0.000	2705	2708	3921	3975	3867	0	0	0	0	0	0	14.26	28.83	28.83
743	-0.61	-145.9	2706	2708	3976	3866	136.7	-15.2	74	746	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2708	3918	3975	3861	0	0	0	0	0	0	28.83	28.83	28.83
1043	-0.66	-145.9	2706	2708	3976	3861	178.1	-12.5	104	1046	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2708	3918	3975	3861	0	0	0	0	0	0	28.83	28.83	28.83
1344	-0.73	-145.9	2706	2708	3976	3861	212.3	-11.0	134	1346	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2708	3918	3975	3861	0	0	0	0	0	0	28.83	28.83	28.83
1643	-0.81	-145.9	2706	2709	3975	3862	245.2	-10.7	164	1647	0.17	0.00	0.00	0.000	4102	0.113	0.000	2639	2708	3917	3974	3860	0	0	0	0	0	0	14.51	28.83	28.83
1954	-0.81	-145.9	2639	2708	3974	3860	288.6	-14.2	177	1962	0.00	1.90	0.00	0.000	260	0.000	0.110	2629	3792	3916	3973	3860	0	0	0	0	0	0	28.83	14.49	28.83
2041	-0.74	-145.9	2631	3794	3974	3860	302.6	-16.3	194	2051	0.12	1.85	0.00	0.000	3078	0.252	0.062	2676	2690	3916	3972	3860	0	0	0	0	0	0	14.37	14.51	28.83
2346	-0.79	-145.9	2677	2691	3973	3861	339.2	-11.8	205	2350	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2690	3916	3972	3860	0	0	0	0	0	0	28.83	28.83	28.83
2646	-0.84	-145.9	2676	2690	3972	3860	373.9	-11.4	215	2654	0.12	1.92	0.00	0.000	4356	0.140	0.107	2619	3793	3915	3971	3860	0	0	0	0	0	0	14.57	14.52	28.83
2718	-0.76	-145.9	2619	3789	3971	3861	385.1	-17.0	229	2726	0.17	1.77	0.00	0.000	3078	0.272	0.062	2657	2696	3915	3970	3860	0	0	0	0	0	0	14.44	14.58	28.83
3040	-0.76	-145.9	2658	2695	3971	3860	425.3	-12.2	243	3042	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2696	3914	3969	3859	0	0	0	0	0	0	28.83	28.83	28.83
3341	-0.76	-145.9	2658	2696	3971	3860	462.1	-12.2	253	3349	0.00	1.92	0.00	0.000	260	0.000	0.110	2651	3798	3914	3970	3859	0	0	0	0	0	0	28.83	14.54	28.83
3417	-0.76	-145.9	2652	3799	3970	3860	472.5	-13.7	268	3425	0.00	1.83	0.00	0.000	1030	0.000	0.061	2651	2698	3914	3969	3859	0	0	0	0	0	0	28.83	14.58	28.83
3645	end dive: TARGET_DEPTH_EXCEEDED
state	3645	begin apogee
3648	-0.13	0.0	2651	2853	3970	3860	501.3	-12.7	278	3775	0.77	0.00	121.85	1.698	10246	0.241	0.000	2857	2852	3314	3332	3296	0	0	0	0	0	0	14.45	28.83	13.24
3777	end apogee: CONTROL_FINISHED_OK
state	3777	begin climb
3778	0.70	145.9	2854	2853	3333	3294	505.0	0.0	282	3911	0.93	0.00	122.45	1.619	10246	0.138	0.000	3129	2852	2721	2728	2714	0	0	0	0	0	0	13.85	28.83	13.05
4185	0.62	145.9	3130	2853	2725	2702	460.7	13.6	296	4192	0.00	2.45	0.00	0.000	516	0.000	0.073	3139	1447	2713	2724	2702	0	0	0	0	0	0	28.83	14.12	28.83
4211	0.57	145.9	3139	1444	2725	2703	457.3	12.4	301	4221	0.17	2.53	0.00	0.000	5126	0.265	0.097	3101	2842	2713	2724	2703	0	0	0	0	0	0	14.02	14.12	28.83
4517	0.58	151.0	3102	2842	2725	2702	421.4	11.6	312	4521	0.00	0.00	1.25	0.273	8198	0.000	0.000	3101	2842	2699	2711	2688	0	0	0	0	0	0	28.83	28.83	14.14
4817	0.58	156.9	3103	2843	2732	2693	386.6	11.6	322	4833	0.00	2.50	10.00	1.529	8708	0.000	0.074	3110	1442	2672	2685	2659	0	0	0	0	0	0	28.83	14.23	13.64
4877	0.59	168.5	3111	1443	2684	2658	379.9	11.3	333	4895	0.00	2.50	11.25	1.564	9222	0.000	0.098	3110	2839	2628	2639	2617	0	0	0	0	0	0	28.83	14.23	13.59
5219	0.59	168.5	3111	2840	2636	2609	337.2	12.5	350	5222	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2840	2621	2635	2608	0	0	0	0	0	0	28.83	28.83	28.83
5519	0.59	168.5	3111	2838	2636	2605	299.5	12.4	360	5528	0.00	2.40	0.00	0.000	516	0.000	0.074	3118	1441	2622	2637	2607	0	0	0	0	0	0	28.83	14.37	28.83
5552	0.60	178.7	3119	1443	2636	2609	295.7	11.3	366	5568	0.00	2.47	9.43	1.454	9222	0.000	0.098	3118	2842	2585	2596	2575	0	0	0	0	0	0	28.83	14.36	13.73
5887	0.60	178.7	3119	2843	2594	2571	252.3	13.2	382	5890	0.00	0.00	0.00	0.000	6	0.000	0.000	3118	2842	2581	2593	2570	0	0	0	0	0	0	28.83	28.83	28.83
6187	0.60	178.7	3120	2843	2601	2570	213.9	12.2	410	6197	0.00	2.38	0.00	0.000	516	0.000	0.074	3125	1445	2582	2594	2570	0	0	0	0	0	0	28.83	14.43	28.83
6245	0.61	200.6	3126	1444	2595	2569	207.6	10.7	421	6270	0.00	2.47	19.00	1.414	9222	0.000	0.099	3125	2842	2499	2507	2491	0	0	0	0	0	0	28.83	14.43	13.71
6564	0.62	216.2	3126	2842	2503	2481	169.9	11.1	454	6586	0.00	2.40	14.45	1.391	8708	0.000	0.071	3133	1450	2428	2437	2420	0	0	0	0	0	0	28.83	14.27	13.71
6616	0.71	255.5	3134	1451	2435	2420	164.5	9.8	463	6657	0.00	2.47	33.45	1.280	9222	0.000	0.098	3133	2839	2270	2272	2268	0	0	0	0	0	0	28.83	14.28	13.62
6961	0.73	288.5	3133	2839	2272	2258	126.3	10.1	500	6996	0.00	2.45	27.85	1.252	8708	0.000	0.073	3138	1440	2134	2137	2131	0	0	0	0	0	0	28.83	14.14	13.71
7030	0.88	341.1	3139	1440	2136	2127	119.4	9.0	512	7085	0.17	2.53	43.03	1.193	11270	0.110	0.099	3205	2839	1919	1910	1928	0	0	0	0	0	0	14.21	14.16	13.52
7379	0.88	341.1	3205	2839	1909	1917	65.8	14.1	550	7390	0.00	2.42	0.00	0.000	516	0.000	0.074	3215	1442	1912	1909	1916	0	0	0	0	0	0	28.83	14.26	28.83
7424	0.88	341.1	3217	1443	1909	1917	59.9	13.1	558	7433	0.00	2.50	0.00	0.000	1030	0.000	0.098	3214	2837	1912	1908	1916	0	0	0	0	0	0	28.83	14.24	28.83
7737	0.90	374.3	3215	2837	1910	1914	25.7	10.1	590	7754	0.00	0.00	13.52	0.269	8198	0.000	0.000	3214	2836	1788	1780	1797	0	0	0	0	0	0	28.83	28.83	14.24
8048	1.15	577.6	3214	2837	1786	1795	14.1	0.8	621	8065	0.20	0.00	13.23	0.240	10754	0.106	0.000	3291	2836	1669	1661	1677	0	0	0	0	0	0	14.43	28.83	28.83
8065	end climb: NO_VERTICAL_VELOCITY
state	8065	begin surface