Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 27 * 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 27 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 33 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 17 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 -3356.4775 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 -3356.4775

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 33 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 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 27 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 300714,000402,7100.795,-14428.239,13,0.8,33,22.3 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 1.88 MHEAD_RNG_PITCHd_Wd 342.9,66009,-21.9,-11.905,-26.85,1887

_SM_ANGLEo -70.6 D_GRID 1000

GPS2 300714,001502,7100.824,-14428.206,5,0.8,25,22.3

Post-dive calculations and measurements:

FINISH 0.9,1.019572 _10V_AH 12.62,0.000

SM_CCo 8765,0.00,0.000,0,0,501,658.63 FG_AHR_24Vo 0.000

SM_GC 1.89,8.35,0.45,0.00,0.094,0.093,0.000,204,2791,501,-7.52,0.71,658.63,0,0,0,0,0,0,14.40,14.40,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 546 MEM 300668

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 30042,847

IRIDIUM_FIX 7026.32,-14436.17,290714,212345 CAP_FILE_SIZE 130276,0

TT8_MAMPS 0.04494,0.04494 CFSIZE 2097872896,2087321600

HUMID 51.57 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.56402 INTR 0,9840.45,0x2378b6,7,5

TCM_TEMP 12.40 SOUNDSPEED 1449.8

XPDR_PINGS 0 EKF 8857,4261.846680,-8668.521484,0.910370,0.084995,-0.189668,0.014428,0.000124,0.001171,0.000099,0.000025,0.000025,0.000050

SC_FREEKB 4008288 CURRENT 0.023,66.44,1

TM_FREEKB 7626944 GPS 300714,024254,7101.899,-14428.262,35,0.8,55,22.3

_24V_AH 12.66,9.437

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 468 134.77 nil 0 0 0.00

Roll_motor 61 141 109.38 nil 0 0 0.00

VBD_pump_during_apogee 616 2635 20571.70 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 8711 15 1727.11

Iridium_during_xfer 417 199 1054.71 TMICL 8765 13 1477.61

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 0 0.25

TT8 0 0 0.00

LPSleep 6225 2 181.50

TT8_Active 737 8 81.30

TT8_Sampling 2383 28 848.37

TT8_CF8 78 35 35.33

TT8_Kalman 0 0 0.00

Analog_circuits 1905 10 240.44

GPS_charging 0 0 0.00

Compass 1250 0 11.84

RAFOS 0 0 0.00

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.69 -145.9 209 2793 462 539 0.0 0.0 0 84 0.00 0.00 -62.80 0.000 16386 0.000 0.000 207 2794 2063 2108 2018 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.69 -145.9 208 2795 2110 2018 3.2 -3.2 6 140 11.68 2.42 -32.60 0.000 18948 0.469 0.105 2398 1394 3782 3851 3713 0 0 0 0 0 0 14.07 14.23 14.46

324 -0.67 -145.9 2395 1394 3845 3717 50.5 -17.9 51 334 0.00 2.55 0.00 0.000 1030 0.000 0.116 2390 2808 3786 3850 3722 0 0 0 0 0 0 28.83 14.31 28.83

629 -0.67 -145.9 2391 2809 3852 3719 99.5 -14.8 82 632 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2808 3784 3851 3718 0 0 0 0 0 0 28.83 28.83 28.83

929 -0.67 -145.9 2390 2809 3855 3718 143.0 -13.9 112 938 0.00 2.40 0.00 0.000 516 0.000 0.084 2390 1395 3784 3851 3717 0 0 0 0 0 0 28.83 14.49 28.83

1017 -0.70 -145.9 2390 1395 3852 3718 153.7 -12.2 129 1026 0.00 2.53 0.00 0.000 1030 0.000 0.121 2387 2802 3784 3851 3718 0 0 0 0 0 0 28.83 14.47 28.83

1322 -0.72 -145.9 2387 2802 3852 3718 190.4 -11.2 160 1330 0.00 2.40 0.00 0.000 516 0.000 0.085 2384 1388 3784 3851 3718 0 0 0 0 0 0 28.83 14.53 28.83

1385 -0.75 -145.9 2387 1388 3852 3718 196.6 -9.6 172 1393 0.00 2.53 0.00 0.000 1030 0.000 0.122 2387 2797 3783 3850 3717 0 0 0 0 0 0 28.83 14.50 28.83

1698 -0.79 -145.9 2387 2798 3852 3716 227.4 -10.1 204 1705 0.00 2.38 0.00 0.000 516 0.000 0.085 2386 1398 3783 3851 3716 0 0 0 0 0 0 28.83 14.55 28.83

1765 -0.83 -145.9 2388 1391 3852 3716 233.9 -9.7 217 1774 0.00 2.53 0.00 0.000 1030 0.000 0.122 2387 2802 3783 3850 3716 0 0 0 0 0 0 28.83 14.52 28.83

2090 -0.87 -145.9 2387 2802 3852 3715 265.1 -9.4 240 2093 0.12 0.00 0.00 0.000 4102 0.158 0.000 2336 2802 3782 3850 3715 0 0 0 0 0 0 14.60 28.83 28.83

2390 -0.87 -145.9 2337 2802 3851 3716 300.3 -11.8 250 2400 0.00 2.40 0.00 0.000 516 0.000 0.085 2336 1379 3782 3849 3715 0 0 0 0 0 0 28.83 14.61 28.83

2494 -0.87 -145.9 2337 1379 3850 3715 312.1 -11.2 270 2503 0.00 2.55 0.00 0.000 1030 0.000 0.122 2334 2810 3782 3849 3715 0 0 0 0 0 0 28.83 14.57 28.83

2818 -0.87 -145.9 2335 2809 3850 3716 350.5 -11.8 284 2825 0.00 2.38 0.00 0.000 516 0.000 0.085 2334 1396 3781 3847 3715 0 0 0 0 0 0 28.83 14.62 28.83

2869 -0.87 -145.9 2336 1395 3848 3716 356.2 -10.5 294 2879 0.00 2.50 0.00 0.000 1030 0.000 0.120 2326 2800 3781 3847 3715 0 0 0 0 0 0 28.83 14.59 28.83

3184 -0.87 -145.9 2327 2801 3847 3716 393.5 -11.8 306 3187 0.00 0.00 0.00 0.000 6 0.000 0.000 2326 2800 3781 3847 3715 0 0 0 0 0 0 28.83 28.83 28.83

3483 -0.87 -145.9 2327 2800 3848 3716 428.6 -11.7 316 3491 0.00 2.35 0.00 0.000 516 0.000 0.084 2325 1395 3780 3846 3714 0 0 0 0 0 0 28.83 14.64 28.83

3585 -0.87 -145.9 2326 1394 3847 3711 439.8 -10.8 336 3593 0.12 2.50 0.00 0.000 3078 0.347 0.119 2342 2805 3780 3846 3715 0 0 0 0 0 0 14.51 14.61 28.83

3907 -0.87 -145.9 2343 2806 3847 3716 473.6 -10.4 350 3910 0.00 0.00 0.00 0.000 6 0.000 0.000 2342 2805 3780 3846 3715 0 0 0 0 0 0 28.83 28.83 28.83

4176 end dive: TARGET_DEPTH_EXCEEDED

state 4176 begin apogee

4180 -0.14 0.0 2342 3055 3847 3715 501.7 -10.4 359 4332 0.90 0.00 142.57 2.635 10246 0.286 0.000 2576 3051 3188 3268 3109 0 0 0 0 1 0 14.54 28.83 12.66

4335 end apogee: CONTROL_FINISHED_OK

state 4335 begin climb

4336 0.69 145.9 2577 3054 3280 3109 505.2 0.0 364 4479 0.93 1.48 129.65 1.513 10500 0.169 0.125 2844 3788 2582 2648 2517 0 0 0 0 0 0 13.69 13.58 13.11

4703 0.62 145.9 2845 3789 2646 2509 458.4 16.6 430 4713 0.00 1.30 0.00 0.000 1030 0.000 0.083 2849 3059 2571 2636 2507 0 0 0 0 0 0 28.83 14.07 28.83

5037 0.57 145.9 2850 3057 2637 2508 407.9 15.1 446 5047 0.12 1.35 0.00 0.000 4356 0.329 0.125 2821 3801 2569 2637 2502 0 0 0 0 0 0 14.19 14.26 28.83

5271 0.52 145.9 2822 3802 2638 2506 372.7 15.2 492 5279 0.00 1.30 0.00 0.000 1030 0.000 0.083 2828 3050 2571 2637 2506 0 0 0 0 0 0 28.83 14.40 28.83

5583 0.49 145.9 2828 3050 2638 2506 330.3 13.5 504 5591 0.12 1.35 0.00 0.000 4356 0.317 0.125 2796 3800 2571 2636 2506 0 0 0 0 0 0 14.38 14.42 28.83

5655 0.46 145.9 2797 3800 2638 2506 320.5 13.8 518 5664 0.00 1.30 0.00 0.000 1030 0.000 0.084 2802 3048 2571 2637 2506 0 0 0 0 0 0 28.83 14.50 28.83

5978 0.46 145.9 2802 3048 2644 2506 281.4 12.0 532 5981 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 3048 2571 2636 2506 0 0 0 0 0 0 28.83 28.83 28.83

6278 0.46 148.4 2810 3048 2637 2505 245.4 11.8 544 6281 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 3048 2571 2637 2505 0 0 0 0 0 0 28.83 28.83 28.83

6578 0.47 162.9 2803 3049 2637 2506 210.3 11.1 574 6601 0.00 2.40 14.07 1.222 8708 0.000 0.084 2812 1636 2510 2579 2442 0 0 0 0 0 0 28.83 14.45 14.00

6660 0.49 195.1 2813 1637 2576 2441 201.8 10.2 589 6697 0.00 2.53 28.12 1.154 9222 0.000 0.118 2812 3053 2384 2451 2317 0 0 0 0 0 0 28.83 14.46 13.90

6991 0.50 208.0 2812 3053 2436 2305 163.6 11.2 624 7005 0.00 0.00 10.55 1.082 8198 0.000 0.000 2812 3053 2334 2399 2270 0 0 0 0 0 0 28.83 28.83 13.96

7301 0.54 264.2 2813 3054 2387 2261 133.2 8.8 655 7362 0.00 2.50 51.30 1.039 8708 0.000 0.083 2819 1646 2095 2157 2034 0 0 0 0 0 0 28.83 14.18 13.83

7441 0.63 316.6 2822 1647 2147 2028 119.9 9.1 680 7497 0.00 2.55 46.83 0.994 9222 0.000 0.117 2821 3057 1885 1945 1825 0 0 0 0 0 0 28.83 14.28 13.75

7801 0.69 346.5 2821 3057 1923 1807 81.8 10.3 719 7821 0.00 2.50 14.23 0.353 8708 0.000 0.085 2828 1644 1777 1842 1713 0 0 0 0 0 0 28.83 14.35 14.16

7920 0.78 388.5 2828 1643 1871 1713 69.8 9.6 742 7959 0.17 2.53 25.88 0.370 11270 0.126 0.119 2903 3050 1606 1668 1545 0 0 0 0 0 0 14.41 14.36 14.19

8253 0.79 400.2 2898 3050 1690 1546 28.2 11.3 777 8270 0.00 1.40 9.20 0.254 8452 0.000 0.131 2899 3790 1555 1620 1491 0 0 0 0 0 0 28.83 14.40 14.33

8454 1.06 681.2 2898 3790 1644 1491 13.2 -3.4 816 8611 0.17 1.27 144.18 0.213 11270 0.083 0.087 2980 3058 497 459 536 0 0 0 0 0 0 14.45 14.45 14.25

8664 end climb: SURFACE_DEPTH_REACHED

state 8664 begin surface coast

8685 end surface coast: CONTROL_FINISHED_OK

state 8685 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	27	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	33	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	17	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	-3356.4775	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	300714,000402,7100.795,-14428.239,13,0.8,33,22.3	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	1.88	MHEAD_RNG_PITCHd_Wd	342.9,66009,-21.9,-11.905,-26.85,1887
_SM_ANGLEo	-70.6	D_GRID	1000
GPS2	300714,001502,7100.824,-14428.206,5,0.8,25,22.3

FINISH	0.9,1.019572	_10V_AH	12.62,0.000
SM_CCo	8765,0.00,0.000,0,0,501,658.63	FG_AHR_24Vo	0.000
SM_GC	1.89,8.35,0.45,0.00,0.094,0.093,0.000,204,2791,501,-7.52,0.71,658.63,0,0,0,0,0,0,14.40,14.40,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	546	MEM	300668
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	30042,847
IRIDIUM_FIX	7026.32,-14436.17,290714,212345	CAP_FILE_SIZE	130276,0
TT8_MAMPS	0.04494,0.04494	CFSIZE	2097872896,2087321600
HUMID	51.57	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.56402	INTR	0,9840.45,0x2378b6,7,5
TCM_TEMP	12.40	SOUNDSPEED	1449.8
XPDR_PINGS	0	EKF	8857,4261.846680,-8668.521484,0.910370,0.084995,-0.189668,0.014428,0.000124,0.001171,0.000099,0.000025,0.000025,0.000050
SC_FREEKB	4008288	CURRENT	0.023,66.44,1
TM_FREEKB	7626944	GPS	300714,024254,7101.899,-14428.262,35,0.8,55,22.3
_24V_AH	12.66,9.437

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	468	134.77	nil	0	0	0.00
Roll_motor	61	141	109.38	nil	0	0	0.00
VBD_pump_during_apogee	616	2635	20571.70	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	8711	15	1727.11
Iridium_during_xfer	417	199	1054.71	TMICL	8765	13	1477.61
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	0	0.25
TT8	0	0	0.00
LPSleep	6225	2	181.50
TT8_Active	737	8	81.30
TT8_Sampling	2383	28	848.37
TT8_CF8	78	35	35.33
TT8_Kalman	0	0	0.00
Analog_circuits	1905	10	240.44
GPS_charging	0	0	0.00
Compass	1250	0	11.84
RAFOS	0	0	0.00
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.69	-145.9	209	2793	462	539	0.0	0.0	0	84	0.00	0.00	-62.80	0.000	16386	0.000	0.000	207	2794	2063	2108	2018	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.69	-145.9	208	2795	2110	2018	3.2	-3.2	6	140	11.68	2.42	-32.60	0.000	18948	0.469	0.105	2398	1394	3782	3851	3713	0	0	0	0	0	0	14.07	14.23	14.46
324	-0.67	-145.9	2395	1394	3845	3717	50.5	-17.9	51	334	0.00	2.55	0.00	0.000	1030	0.000	0.116	2390	2808	3786	3850	3722	0	0	0	0	0	0	28.83	14.31	28.83
629	-0.67	-145.9	2391	2809	3852	3719	99.5	-14.8	82	632	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2808	3784	3851	3718	0	0	0	0	0	0	28.83	28.83	28.83
929	-0.67	-145.9	2390	2809	3855	3718	143.0	-13.9	112	938	0.00	2.40	0.00	0.000	516	0.000	0.084	2390	1395	3784	3851	3717	0	0	0	0	0	0	28.83	14.49	28.83
1017	-0.70	-145.9	2390	1395	3852	3718	153.7	-12.2	129	1026	0.00	2.53	0.00	0.000	1030	0.000	0.121	2387	2802	3784	3851	3718	0	0	0	0	0	0	28.83	14.47	28.83
1322	-0.72	-145.9	2387	2802	3852	3718	190.4	-11.2	160	1330	0.00	2.40	0.00	0.000	516	0.000	0.085	2384	1388	3784	3851	3718	0	0	0	0	0	0	28.83	14.53	28.83
1385	-0.75	-145.9	2387	1388	3852	3718	196.6	-9.6	172	1393	0.00	2.53	0.00	0.000	1030	0.000	0.122	2387	2797	3783	3850	3717	0	0	0	0	0	0	28.83	14.50	28.83
1698	-0.79	-145.9	2387	2798	3852	3716	227.4	-10.1	204	1705	0.00	2.38	0.00	0.000	516	0.000	0.085	2386	1398	3783	3851	3716	0	0	0	0	0	0	28.83	14.55	28.83
1765	-0.83	-145.9	2388	1391	3852	3716	233.9	-9.7	217	1774	0.00	2.53	0.00	0.000	1030	0.000	0.122	2387	2802	3783	3850	3716	0	0	0	0	0	0	28.83	14.52	28.83
2090	-0.87	-145.9	2387	2802	3852	3715	265.1	-9.4	240	2093	0.12	0.00	0.00	0.000	4102	0.158	0.000	2336	2802	3782	3850	3715	0	0	0	0	0	0	14.60	28.83	28.83
2390	-0.87	-145.9	2337	2802	3851	3716	300.3	-11.8	250	2400	0.00	2.40	0.00	0.000	516	0.000	0.085	2336	1379	3782	3849	3715	0	0	0	0	0	0	28.83	14.61	28.83
2494	-0.87	-145.9	2337	1379	3850	3715	312.1	-11.2	270	2503	0.00	2.55	0.00	0.000	1030	0.000	0.122	2334	2810	3782	3849	3715	0	0	0	0	0	0	28.83	14.57	28.83
2818	-0.87	-145.9	2335	2809	3850	3716	350.5	-11.8	284	2825	0.00	2.38	0.00	0.000	516	0.000	0.085	2334	1396	3781	3847	3715	0	0	0	0	0	0	28.83	14.62	28.83
2869	-0.87	-145.9	2336	1395	3848	3716	356.2	-10.5	294	2879	0.00	2.50	0.00	0.000	1030	0.000	0.120	2326	2800	3781	3847	3715	0	0	0	0	0	0	28.83	14.59	28.83
3184	-0.87	-145.9	2327	2801	3847	3716	393.5	-11.8	306	3187	0.00	0.00	0.00	0.000	6	0.000	0.000	2326	2800	3781	3847	3715	0	0	0	0	0	0	28.83	28.83	28.83
3483	-0.87	-145.9	2327	2800	3848	3716	428.6	-11.7	316	3491	0.00	2.35	0.00	0.000	516	0.000	0.084	2325	1395	3780	3846	3714	0	0	0	0	0	0	28.83	14.64	28.83
3585	-0.87	-145.9	2326	1394	3847	3711	439.8	-10.8	336	3593	0.12	2.50	0.00	0.000	3078	0.347	0.119	2342	2805	3780	3846	3715	0	0	0	0	0	0	14.51	14.61	28.83
3907	-0.87	-145.9	2343	2806	3847	3716	473.6	-10.4	350	3910	0.00	0.00	0.00	0.000	6	0.000	0.000	2342	2805	3780	3846	3715	0	0	0	0	0	0	28.83	28.83	28.83
4176	end dive: TARGET_DEPTH_EXCEEDED
state	4176	begin apogee
4180	-0.14	0.0	2342	3055	3847	3715	501.7	-10.4	359	4332	0.90	0.00	142.57	2.635	10246	0.286	0.000	2576	3051	3188	3268	3109	0	0	0	0	1	0	14.54	28.83	12.66
4335	end apogee: CONTROL_FINISHED_OK
state	4335	begin climb
4336	0.69	145.9	2577	3054	3280	3109	505.2	0.0	364	4479	0.93	1.48	129.65	1.513	10500	0.169	0.125	2844	3788	2582	2648	2517	0	0	0	0	0	0	13.69	13.58	13.11
4703	0.62	145.9	2845	3789	2646	2509	458.4	16.6	430	4713	0.00	1.30	0.00	0.000	1030	0.000	0.083	2849	3059	2571	2636	2507	0	0	0	0	0	0	28.83	14.07	28.83
5037	0.57	145.9	2850	3057	2637	2508	407.9	15.1	446	5047	0.12	1.35	0.00	0.000	4356	0.329	0.125	2821	3801	2569	2637	2502	0	0	0	0	0	0	14.19	14.26	28.83
5271	0.52	145.9	2822	3802	2638	2506	372.7	15.2	492	5279	0.00	1.30	0.00	0.000	1030	0.000	0.083	2828	3050	2571	2637	2506	0	0	0	0	0	0	28.83	14.40	28.83
5583	0.49	145.9	2828	3050	2638	2506	330.3	13.5	504	5591	0.12	1.35	0.00	0.000	4356	0.317	0.125	2796	3800	2571	2636	2506	0	0	0	0	0	0	14.38	14.42	28.83
5655	0.46	145.9	2797	3800	2638	2506	320.5	13.8	518	5664	0.00	1.30	0.00	0.000	1030	0.000	0.084	2802	3048	2571	2637	2506	0	0	0	0	0	0	28.83	14.50	28.83
5978	0.46	145.9	2802	3048	2644	2506	281.4	12.0	532	5981	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	3048	2571	2636	2506	0	0	0	0	0	0	28.83	28.83	28.83
6278	0.46	148.4	2810	3048	2637	2505	245.4	11.8	544	6281	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	3048	2571	2637	2505	0	0	0	0	0	0	28.83	28.83	28.83
6578	0.47	162.9	2803	3049	2637	2506	210.3	11.1	574	6601	0.00	2.40	14.07	1.222	8708	0.000	0.084	2812	1636	2510	2579	2442	0	0	0	0	0	0	28.83	14.45	14.00
6660	0.49	195.1	2813	1637	2576	2441	201.8	10.2	589	6697	0.00	2.53	28.12	1.154	9222	0.000	0.118	2812	3053	2384	2451	2317	0	0	0	0	0	0	28.83	14.46	13.90
6991	0.50	208.0	2812	3053	2436	2305	163.6	11.2	624	7005	0.00	0.00	10.55	1.082	8198	0.000	0.000	2812	3053	2334	2399	2270	0	0	0	0	0	0	28.83	28.83	13.96
7301	0.54	264.2	2813	3054	2387	2261	133.2	8.8	655	7362	0.00	2.50	51.30	1.039	8708	0.000	0.083	2819	1646	2095	2157	2034	0	0	0	0	0	0	28.83	14.18	13.83
7441	0.63	316.6	2822	1647	2147	2028	119.9	9.1	680	7497	0.00	2.55	46.83	0.994	9222	0.000	0.117	2821	3057	1885	1945	1825	0	0	0	0	0	0	28.83	14.28	13.75
7801	0.69	346.5	2821	3057	1923	1807	81.8	10.3	719	7821	0.00	2.50	14.23	0.353	8708	0.000	0.085	2828	1644	1777	1842	1713	0	0	0	0	0	0	28.83	14.35	14.16
7920	0.78	388.5	2828	1643	1871	1713	69.8	9.6	742	7959	0.17	2.53	25.88	0.370	11270	0.126	0.119	2903	3050	1606	1668	1545	0	0	0	0	0	0	14.41	14.36	14.19
8253	0.79	400.2	2898	3050	1690	1546	28.2	11.3	777	8270	0.00	1.40	9.20	0.254	8452	0.000	0.131	2899	3790	1555	1620	1491	0	0	0	0	0	0	28.83	14.40	14.33
8454	1.06	681.2	2898	3790	1644	1491	13.2	-3.4	816	8611	0.17	1.27	144.18	0.213	11270	0.083	0.087	2980	3058	497	459	536	0	0	0	0	0	0	14.45	14.45	14.25
8664	end climb: SURFACE_DEPTH_REACHED
state	8664	begin surface coast
8685	end surface coast: CONTROL_FINISHED_OK
state	8685	begin surface