Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 26 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 ESCAPE_HEADING 0 C_ROLL_CLIMB 3050 ALTIM_FREQUENCY 13

MISSION 5 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 28 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 14 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 648.87579 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.44999999

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 3186 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 0.00069999998 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 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 -3354.8652 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 0 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0043931045

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00063259818

T_WATCHDOG 10 PITCH_MIN 212 MINV_10V 11 SEABIRD_T_I 2.5708419e-05

RELAUNCH 1 PITCH_MAX 3894 FG_AHR_10V 0 SEABIRD_T_J 3.1590957e-06

APOGEE_PITCH -5 C_PITCH 2630 FG_AHR_24V 0 SEABIRD_C_G -9.8238754

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1280942

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -84.212708 SEABIRD_C_I -0.0016420757

GLIDE_SLOPE 35 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001160319 SEABIRD_C_J 0.00020143802

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54305 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 0.0099999998 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 0.0023000001 ROLL_MIN 200 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.014 ROLL_MAX 3790 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 1e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2800 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 500 PITCH_GAIN 37 SURFACE_URGENCY_FORCE 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3894 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 212 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 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 35 PRESSURE_SLOPE 0.0001160319 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -84.212708 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0023000001 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.014 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 1e-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 0 T_GPS 5

CAPUPLOAD 0 ID 198 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -3354.8652

COMM_SEQ 0 INT_PRESSURE_YINT -0.44999999 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 2630 LOGGERDEVICE4 -1 ROLL_MAX 3790 T_TURN_SAMPINT -5

C_ROLL_CLIMB 3050 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2800 MASS 54305 ROLL_MIN 200 UNCOM_BLEED 60

C_VBD 3186 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 28 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 14 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 -9.8238754 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1280942 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0016420757 VBD_MIN 500

DIVE 26 N_FILEKB 8 SEABIRD_C_J 0.00020143802 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 N_GPS -20 SEABIRD_T_G 0.0043931045 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00063259818 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.5708419e-05 W_ADJ_DBAND 0

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.1590957e-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 648.87579

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 290714,211948,7059.743,-14428.532,35,0.8,55,22.3 SPEED_LIMITS 0.170,0.235

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.83 MHEAD_RNG_PITCHd_Wd 341.3,68013,-21.9,-11.905,-26.85,1887

_SM_ANGLEo -70.2 D_GRID 1000

GPS2 290714,213101,7059.750,-14428.643,4,0.7,25,22.3

Post-dive calculations and measurements:

FINISH 1.0,1.019477 _10V_AH 12.78,0.000

SM_CCo 9097,0.00,0.000,0,0,500,658.39 FG_AHR_24Vo 0.000

SM_GC 1.90,8.43,0.45,0.00,0.095,0.099,0.000,209,2795,500,-7.51,0.96,658.39,0,0,0,0,0,0,14.38,14.38,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 15 MEM 301188

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 30027,841

IRIDIUM_FIX 7026.32,-14436.17,290714,184103 CAP_FILE_SIZE 130821,0

TT8_MAMPS 0.081641,0.081641 CFSIZE 2097872896,2087583744

HUMID 52.12 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.57378 INTR 0,9747.61,0x2378b6,7,5

TCM_TEMP 12.60 SOUNDSPEED 1449.9

XPDR_PINGS 0 EKF 9167,4260.776855,-8668.498047,0.983771,0.876806,0.119574,0.013947,0.000144,0.001358,0.000099,0.001025,0.001025,0.000050

SC_FREEKB 4008736 CURRENT 0.019,126.09,1

TM_FREEKB 7640864 GPS 300714,000402,7100.795,-14428.239,13,0.8,33,22.3

_24V_AH 13.26,9.091

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 467 140.07 nil 0 0 0.00

Roll_motor 52 157 110.49 nil 0 0 0.00

VBD_pump_during_apogee 617 1371 11237.46 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 9043 15 1876.83

Iridium_during_xfer 430 195 1118.72 TMICL 9095 13 1608.56

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 0 0.26

TT8 0 0 0.00

LPSleep 6572 2 194.02

TT8_Active 719 8 80.31

TT8_Sampling 2399 28 864.83

TT8_CF8 76 35 35.04

TT8_Kalman 0 0 0.00

Analog_circuits 1894 10 242.08

GPS_charging 0 0 0.00

Compass 1244 0 11.93

RAFOS 1432 48 878.45

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

19 -0.69 -145.9 200 2799 510 594 0.0 0.0 0 85 0.00 0.00 -63.22 0.000 16386 0.000 0.000 199 2798 2145 2183 2107 0 0 0 0 0 0 28.83 28.83 28.83

87 -0.69 -145.9 197 2798 2185 2107 3.6 -3.8 6 138 11.55 1.83 -30.70 0.000 19204 0.467 0.158 2388 3793 3781 3850 3713 0 0 0 0 0 0 14.14 14.30 14.53

361 -0.65 -145.9 2388 3793 3852 3716 65.9 -18.5 58 371 0.10 1.73 0.00 0.000 3078 0.318 0.081 2412 2798 3783 3851 3716 0 0 0 0 0 0 14.26 14.40 28.83

667 -0.65 -145.9 2413 2798 3851 3716 110.8 -14.1 89 674 0.00 1.83 0.00 0.000 260 0.000 0.134 2406 3785 3783 3850 3716 0 0 0 0 0 0 28.83 14.45 28.83

728 -0.65 -145.9 2406 3785 3852 3716 119.7 -14.7 101 736 0.00 1.70 0.00 0.000 1030 0.000 0.082 2406 2797 3783 3850 3716 0 0 0 0 0 0 28.83 14.52 28.83

1040 -0.67 -145.9 2412 2795 3852 3716 159.5 -12.0 133 1048 0.00 2.38 0.00 0.000 516 0.000 0.088 2406 1392 3783 3851 3716 0 0 0 0 0 0 28.83 14.50 28.83

1082 -0.71 -145.9 2406 1391 3852 3716 164.4 -11.4 141 1090 0.00 2.55 0.00 0.000 1030 0.000 0.121 2400 2810 3783 3850 3716 0 0 0 0 0 0 28.83 14.48 28.83

1394 -0.75 -145.9 2401 2811 3855 3718 198.4 -9.9 173 1398 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2810 3783 3850 3716 0 0 0 0 0 0 28.83 28.83 28.83

1694 -0.79 -145.9 2400 2811 3851 3716 227.5 -9.5 203 1696 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2810 3783 3850 3716 0 0 0 0 0 0 28.83 28.83 28.83

2004 -0.83 -145.9 2401 2809 3849 3717 255.9 -9.1 230 2007 0.12 0.00 0.00 0.000 4102 0.155 0.000 2349 2810 3781 3848 3715 0 0 0 0 0 0 14.59 28.83 28.83

2304 -0.83 -145.9 2350 2811 3847 3716 288.6 -11.0 240 2312 0.00 2.40 0.00 0.000 516 0.000 0.087 2349 1388 3781 3847 3715 0 0 0 0 0 0 28.83 14.61 28.83

2366 -0.83 -145.9 2350 1389 3848 3716 295.1 -10.6 252 2374 0.00 2.53 0.00 0.000 1030 0.000 0.125 2347 2804 3780 3846 3715 0 0 0 0 0 0 28.83 14.57 28.83

2698 -0.83 -145.9 2349 2804 3847 3716 331.3 -10.8 268 2701 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2803 3780 3846 3715 0 0 0 0 0 0 28.83 28.83 28.83

2998 -0.83 -145.9 2348 2803 3847 3715 363.1 -10.7 278 3006 0.00 2.38 0.00 0.000 516 0.000 0.086 2347 1396 3780 3845 3715 0 0 0 0 0 0 28.83 14.64 28.83

3070 -0.86 -145.9 2348 1396 3850 3716 370.5 -10.0 292 3078 0.00 2.50 0.00 0.000 1030 0.000 0.123 2347 2800 3780 3845 3715 0 0 0 0 0 0 28.83 14.60 28.83

3392 -0.86 -145.9 2348 2800 3845 3716 405.1 -10.7 306 3394 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2800 3780 3846 3715 0 0 0 0 0 0 28.83 28.83 28.83

3692 -0.86 -145.9 2348 2800 3856 3709 437.2 -10.7 316 3699 0.00 2.38 0.00 0.000 516 0.000 0.086 2347 1384 3779 3845 3714 0 0 0 0 0 0 28.83 14.66 28.83

3738 -0.88 -145.9 2348 1385 3846 3714 442.1 -9.8 325 3746 0.00 2.53 0.00 0.000 1030 0.000 0.122 2347 2802 3779 3845 3714 0 0 0 0 0 0 28.83 14.62 28.83

4056 -0.88 -145.9 2348 2803 3846 3716 475.3 -10.5 338 4058 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2802 3780 3845 3715 0 0 0 0 0 0 28.83 28.83 28.83

4294 end dive: TARGET_DEPTH_EXCEEDED

state 4294 begin apogee

4297 -0.14 0.0 2348 3051 3846 3714 500.1 -10.4 346 4481 0.88 0.00 178.70 1.296 10246 0.287 0.000 2576 3050 3183 3261 3105 0 0 0 0 0 0 14.55 28.83 13.46

4483 end apogee: CONTROL_FINISHED_OK

state 4483 begin climb

4484 0.69 145.9 2577 3051 3254 3097 504.7 0.0 352 4623 0.90 1.45 122.32 1.372 10500 0.175 0.127 2841 3786 2578 2644 2512 0 0 0 0 0 0 13.92 13.75 13.26

4847 0.63 145.9 2842 3787 2631 2503 457.9 16.2 417 4855 0.00 1.30 0.00 0.000 1030 0.000 0.083 2847 3048 2565 2629 2501 0 0 0 0 0 0 28.83 14.23 28.83

5152 0.58 145.9 2853 3049 2630 2501 411.6 15.1 428 5160 0.00 1.38 0.00 0.000 260 0.000 0.130 2847 3783 2565 2630 2500 0 0 0 0 0 0 28.83 14.31 28.83

5369 0.51 145.9 2847 3783 2630 2500 375.3 16.7 471 5379 0.17 1.25 0.00 0.000 5126 0.295 0.083 2804 3058 2565 2630 2500 0 0 0 0 0 0 14.33 14.46 28.83

5698 0.51 145.9 2800 3059 2631 2501 333.2 12.5 486 5700 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 3058 2564 2630 2499 0 0 0 0 0 0 28.83 28.83 28.83

5998 0.51 145.9 2804 3061 2631 2500 295.4 12.5 496 6006 0.00 2.38 0.00 0.000 516 0.000 0.083 2814 1642 2564 2630 2499 0 0 0 0 0 0 28.83 14.55 28.83

6060 0.51 149.7 2815 1642 2631 2499 288.2 11.7 508 6068 0.00 2.50 0.00 0.000 1030 0.000 0.118 2814 3050 2564 2630 2499 0 0 0 0 0 0 28.83 14.54 28.83

6372 0.51 149.7 2815 3052 2631 2500 248.5 12.3 524 6375 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 3051 2564 2629 2500 0 0 0 0 0 0 28.83 28.83 28.83

6672 0.51 149.7 2814 3051 2631 2499 212.1 11.9 554 6674 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 3051 2565 2630 2500 0 0 0 0 0 0 28.83 28.83 28.83

6972 0.53 184.3 2814 3052 2631 2499 179.2 10.0 584 7015 0.00 2.42 31.85 1.172 8708 0.000 0.080 2823 1638 2420 2488 2353 0 0 0 0 0 0 28.83 14.38 13.95

7074 0.56 224.3 2824 1639 2478 2349 169.2 9.7 600 7117 0.00 2.55 34.67 1.083 9222 0.000 0.118 2823 3060 2270 2338 2202 0 0 0 0 0 0 28.83 14.38 13.83

7421 0.58 251.3 2824 3061 2308 2180 131.4 10.4 637 7447 0.00 0.00 22.95 1.059 8198 0.000 0.000 2820 3060 2161 2228 2095 0 0 0 0 0 0 28.83 28.83 13.90

7742 0.63 287.2 2824 3060 2203 2071 98.7 9.9 669 7764 0.00 2.50 16.35 0.434 8708 0.000 0.084 2833 1642 2018 2087 1949 0 0 0 0 0 0 28.83 14.38 14.19

7873 0.71 330.9 2834 1642 2120 1949 86.1 9.5 694 7909 0.00 2.53 26.55 0.416 9222 0.000 0.120 2833 3046 1837 1901 1774 0 0 0 0 0 0 28.83 14.41 14.18

8203 0.79 377.1 2834 3046 1931 1774 51.8 9.4 729 8238 0.15 0.00 27.27 0.325 10758 0.148 0.000 2894 3046 1653 1715 1591 0 0 0 0 0 0 14.45 28.83 14.28

8534 0.87 438.6 2894 3046 1738 1591 15.1 8.6 763 8579 0.00 2.47 36.22 0.224 8708 0.000 0.083 2901 1638 1402 1461 1344 0 0 0 0 0 0 28.83 14.40 14.35

8803 1.14 668.4 2902 1638 1473 1343 12.5 -0.6 814 8944 0.30 2.55 120.95 0.212 11270 0.126 0.121 3002 3060 500 462 539 0 0 0 0 0 0 14.47 14.45 14.27

8996 end climb: SURFACE_DEPTH_REACHED

state 8997 begin surface coast

9017 end surface coast: CONTROL_FINISHED_OK

state 9017 begin surface

ID	198	ESCAPE_HEADING	0	C_ROLL_CLIMB	3050	ALTIM_FREQUENCY	13
MISSION	5	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	28	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	14	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	648.87579	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.44999999
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	3186	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	0.00069999998	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	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	-3354.8652	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	0	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0043931045
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00063259818
T_WATCHDOG	10	PITCH_MIN	212	MINV_10V	11	SEABIRD_T_I	2.5708419e-05
RELAUNCH	1	PITCH_MAX	3894	FG_AHR_10V	0	SEABIRD_T_J	3.1590957e-06
APOGEE_PITCH	-5	C_PITCH	2630	FG_AHR_24V	0	SEABIRD_C_G	-9.8238754
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1280942
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-84.212708	SEABIRD_C_I	-0.0016420757
GLIDE_SLOPE	35	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001160319	SEABIRD_C_J	0.00020143802
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54305	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	0.0099999998	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	0.0023000001	ROLL_MIN	200	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.014	ROLL_MAX	3790	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	1e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2800	ALTIM_PING_DELTA	5

GPS1	290714,211948,7059.743,-14428.532,35,0.8,55,22.3	SPEED_LIMITS	0.170,0.235
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.83	MHEAD_RNG_PITCHd_Wd	341.3,68013,-21.9,-11.905,-26.85,1887
_SM_ANGLEo	-70.2	D_GRID	1000
GPS2	290714,213101,7059.750,-14428.643,4,0.7,25,22.3

FINISH	1.0,1.019477	_10V_AH	12.78,0.000
SM_CCo	9097,0.00,0.000,0,0,500,658.39	FG_AHR_24Vo	0.000
SM_GC	1.90,8.43,0.45,0.00,0.095,0.099,0.000,209,2795,500,-7.51,0.96,658.39,0,0,0,0,0,0,14.38,14.38,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	15	MEM	301188
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	30027,841
IRIDIUM_FIX	7026.32,-14436.17,290714,184103	CAP_FILE_SIZE	130821,0
TT8_MAMPS	0.081641,0.081641	CFSIZE	2097872896,2087583744
HUMID	52.12	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.57378	INTR	0,9747.61,0x2378b6,7,5
TCM_TEMP	12.60	SOUNDSPEED	1449.9
XPDR_PINGS	0	EKF	9167,4260.776855,-8668.498047,0.983771,0.876806,0.119574,0.013947,0.000144,0.001358,0.000099,0.001025,0.001025,0.000050
SC_FREEKB	4008736	CURRENT	0.019,126.09,1
TM_FREEKB	7640864	GPS	300714,000402,7100.795,-14428.239,13,0.8,33,22.3
_24V_AH	13.26,9.091

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	467	140.07	nil	0	0	0.00
Roll_motor	52	157	110.49	nil	0	0	0.00
VBD_pump_during_apogee	617	1371	11237.46	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	9043	15	1876.83
Iridium_during_xfer	430	195	1118.72	TMICL	9095	13	1608.56
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	0	0.26
TT8	0	0	0.00
LPSleep	6572	2	194.02
TT8_Active	719	8	80.31
TT8_Sampling	2399	28	864.83
TT8_CF8	76	35	35.04
TT8_Kalman	0	0	0.00
Analog_circuits	1894	10	242.08
GPS_charging	0	0	0.00
Compass	1244	0	11.93
RAFOS	1432	48	878.45
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
19	-0.69	-145.9	200	2799	510	594	0.0	0.0	0	85	0.00	0.00	-63.22	0.000	16386	0.000	0.000	199	2798	2145	2183	2107	0	0	0	0	0	0	28.83	28.83	28.83
87	-0.69	-145.9	197	2798	2185	2107	3.6	-3.8	6	138	11.55	1.83	-30.70	0.000	19204	0.467	0.158	2388	3793	3781	3850	3713	0	0	0	0	0	0	14.14	14.30	14.53
361	-0.65	-145.9	2388	3793	3852	3716	65.9	-18.5	58	371	0.10	1.73	0.00	0.000	3078	0.318	0.081	2412	2798	3783	3851	3716	0	0	0	0	0	0	14.26	14.40	28.83
667	-0.65	-145.9	2413	2798	3851	3716	110.8	-14.1	89	674	0.00	1.83	0.00	0.000	260	0.000	0.134	2406	3785	3783	3850	3716	0	0	0	0	0	0	28.83	14.45	28.83
728	-0.65	-145.9	2406	3785	3852	3716	119.7	-14.7	101	736	0.00	1.70	0.00	0.000	1030	0.000	0.082	2406	2797	3783	3850	3716	0	0	0	0	0	0	28.83	14.52	28.83
1040	-0.67	-145.9	2412	2795	3852	3716	159.5	-12.0	133	1048	0.00	2.38	0.00	0.000	516	0.000	0.088	2406	1392	3783	3851	3716	0	0	0	0	0	0	28.83	14.50	28.83
1082	-0.71	-145.9	2406	1391	3852	3716	164.4	-11.4	141	1090	0.00	2.55	0.00	0.000	1030	0.000	0.121	2400	2810	3783	3850	3716	0	0	0	0	0	0	28.83	14.48	28.83
1394	-0.75	-145.9	2401	2811	3855	3718	198.4	-9.9	173	1398	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	2810	3783	3850	3716	0	0	0	0	0	0	28.83	28.83	28.83
1694	-0.79	-145.9	2400	2811	3851	3716	227.5	-9.5	203	1696	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	2810	3783	3850	3716	0	0	0	0	0	0	28.83	28.83	28.83
2004	-0.83	-145.9	2401	2809	3849	3717	255.9	-9.1	230	2007	0.12	0.00	0.00	0.000	4102	0.155	0.000	2349	2810	3781	3848	3715	0	0	0	0	0	0	14.59	28.83	28.83
2304	-0.83	-145.9	2350	2811	3847	3716	288.6	-11.0	240	2312	0.00	2.40	0.00	0.000	516	0.000	0.087	2349	1388	3781	3847	3715	0	0	0	0	0	0	28.83	14.61	28.83
2366	-0.83	-145.9	2350	1389	3848	3716	295.1	-10.6	252	2374	0.00	2.53	0.00	0.000	1030	0.000	0.125	2347	2804	3780	3846	3715	0	0	0	0	0	0	28.83	14.57	28.83
2698	-0.83	-145.9	2349	2804	3847	3716	331.3	-10.8	268	2701	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2803	3780	3846	3715	0	0	0	0	0	0	28.83	28.83	28.83
2998	-0.83	-145.9	2348	2803	3847	3715	363.1	-10.7	278	3006	0.00	2.38	0.00	0.000	516	0.000	0.086	2347	1396	3780	3845	3715	0	0	0	0	0	0	28.83	14.64	28.83
3070	-0.86	-145.9	2348	1396	3850	3716	370.5	-10.0	292	3078	0.00	2.50	0.00	0.000	1030	0.000	0.123	2347	2800	3780	3845	3715	0	0	0	0	0	0	28.83	14.60	28.83
3392	-0.86	-145.9	2348	2800	3845	3716	405.1	-10.7	306	3394	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2800	3780	3846	3715	0	0	0	0	0	0	28.83	28.83	28.83
3692	-0.86	-145.9	2348	2800	3856	3709	437.2	-10.7	316	3699	0.00	2.38	0.00	0.000	516	0.000	0.086	2347	1384	3779	3845	3714	0	0	0	0	0	0	28.83	14.66	28.83
3738	-0.88	-145.9	2348	1385	3846	3714	442.1	-9.8	325	3746	0.00	2.53	0.00	0.000	1030	0.000	0.122	2347	2802	3779	3845	3714	0	0	0	0	0	0	28.83	14.62	28.83
4056	-0.88	-145.9	2348	2803	3846	3716	475.3	-10.5	338	4058	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2802	3780	3845	3715	0	0	0	0	0	0	28.83	28.83	28.83
4294	end dive: TARGET_DEPTH_EXCEEDED
state	4294	begin apogee
4297	-0.14	0.0	2348	3051	3846	3714	500.1	-10.4	346	4481	0.88	0.00	178.70	1.296	10246	0.287	0.000	2576	3050	3183	3261	3105	0	0	0	0	0	0	14.55	28.83	13.46
4483	end apogee: CONTROL_FINISHED_OK
state	4483	begin climb
4484	0.69	145.9	2577	3051	3254	3097	504.7	0.0	352	4623	0.90	1.45	122.32	1.372	10500	0.175	0.127	2841	3786	2578	2644	2512	0	0	0	0	0	0	13.92	13.75	13.26
4847	0.63	145.9	2842	3787	2631	2503	457.9	16.2	417	4855	0.00	1.30	0.00	0.000	1030	0.000	0.083	2847	3048	2565	2629	2501	0	0	0	0	0	0	28.83	14.23	28.83
5152	0.58	145.9	2853	3049	2630	2501	411.6	15.1	428	5160	0.00	1.38	0.00	0.000	260	0.000	0.130	2847	3783	2565	2630	2500	0	0	0	0	0	0	28.83	14.31	28.83
5369	0.51	145.9	2847	3783	2630	2500	375.3	16.7	471	5379	0.17	1.25	0.00	0.000	5126	0.295	0.083	2804	3058	2565	2630	2500	0	0	0	0	0	0	14.33	14.46	28.83
5698	0.51	145.9	2800	3059	2631	2501	333.2	12.5	486	5700	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	3058	2564	2630	2499	0	0	0	0	0	0	28.83	28.83	28.83
5998	0.51	145.9	2804	3061	2631	2500	295.4	12.5	496	6006	0.00	2.38	0.00	0.000	516	0.000	0.083	2814	1642	2564	2630	2499	0	0	0	0	0	0	28.83	14.55	28.83
6060	0.51	149.7	2815	1642	2631	2499	288.2	11.7	508	6068	0.00	2.50	0.00	0.000	1030	0.000	0.118	2814	3050	2564	2630	2499	0	0	0	0	0	0	28.83	14.54	28.83
6372	0.51	149.7	2815	3052	2631	2500	248.5	12.3	524	6375	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	3051	2564	2629	2500	0	0	0	0	0	0	28.83	28.83	28.83
6672	0.51	149.7	2814	3051	2631	2499	212.1	11.9	554	6674	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	3051	2565	2630	2500	0	0	0	0	0	0	28.83	28.83	28.83
6972	0.53	184.3	2814	3052	2631	2499	179.2	10.0	584	7015	0.00	2.42	31.85	1.172	8708	0.000	0.080	2823	1638	2420	2488	2353	0	0	0	0	0	0	28.83	14.38	13.95
7074	0.56	224.3	2824	1639	2478	2349	169.2	9.7	600	7117	0.00	2.55	34.67	1.083	9222	0.000	0.118	2823	3060	2270	2338	2202	0	0	0	0	0	0	28.83	14.38	13.83
7421	0.58	251.3	2824	3061	2308	2180	131.4	10.4	637	7447	0.00	0.00	22.95	1.059	8198	0.000	0.000	2820	3060	2161	2228	2095	0	0	0	0	0	0	28.83	28.83	13.90
7742	0.63	287.2	2824	3060	2203	2071	98.7	9.9	669	7764	0.00	2.50	16.35	0.434	8708	0.000	0.084	2833	1642	2018	2087	1949	0	0	0	0	0	0	28.83	14.38	14.19
7873	0.71	330.9	2834	1642	2120	1949	86.1	9.5	694	7909	0.00	2.53	26.55	0.416	9222	0.000	0.120	2833	3046	1837	1901	1774	0	0	0	0	0	0	28.83	14.41	14.18
8203	0.79	377.1	2834	3046	1931	1774	51.8	9.4	729	8238	0.15	0.00	27.27	0.325	10758	0.148	0.000	2894	3046	1653	1715	1591	0	0	0	0	0	0	14.45	28.83	14.28
8534	0.87	438.6	2894	3046	1738	1591	15.1	8.6	763	8579	0.00	2.47	36.22	0.224	8708	0.000	0.083	2901	1638	1402	1461	1344	0	0	0	0	0	0	28.83	14.40	14.35
8803	1.14	668.4	2902	1638	1473	1343	12.5	-0.6	814	8944	0.30	2.55	120.95	0.212	11270	0.126	0.121	3002	3060	500	462	539	0	0	0	0	0	0	14.47	14.45	14.27
8996	end climb: SURFACE_DEPTH_REACHED
state	8997	begin surface coast
9017	end surface coast: CONTROL_FINISHED_OK
state	9017	begin surface