Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 28 * 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 28 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 29 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 15 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 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 60 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 -3357.7356 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 2600 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 36 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 36 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 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 0 T_GPS 3

CAPUPLOAD 0 ID 198 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -3357.7356

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 2600 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 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 29 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 15 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 28 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 300714,024254,7101.899,-14428.262,35,0.8,55,22.3 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 1.90 MHEAD_RNG_PITCHd_Wd 342.5,64043,-21.9,-11.905,-26.85,1887

_SM_ANGLEo -72.2 D_GRID 1000

GPS2 300714,025346,7101.901,-14428.229,4,0.8,24,22.3

Post-dive calculations and measurements:

FINISH 0.9,1.014947 _10V_AH 12.59,0.000

SM_CCo 8892,0.00,0.000,0,0,499,659.12 FG_AHR_24Vo 0.000

SM_GC 2.02,8.38,1.75,0.00,0.091,0.083,0.000,207,2794,499,-7.42,0.74,659.12,0,0,0,0,0,0,14.42,14.40,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 315 MEM 300216

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26717,769

IRIDIUM_FIX 7026.32,-14432.35,300714,000754 CAP_FILE_SIZE 128471,0

TT8_MAMPS 0.046438,0.046438 CFSIZE 2097872896,2087059456

HUMID 52.08 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.58355 INTR 0,9523.30,0x2378b6,7,5

TCM_TEMP 12.70 SOUNDSPEED 1449.4

XPDR_PINGS 0 EKF 8964,4262.930664,-8668.289062,0.938133,-0.019671,-0.090708,-0.016582,0.000143,0.001353,0.000095,0.001525,0.001525,0.000034

SC_FREEKB 4007840 CURRENT 0.027,38.67,1

TM_FREEKB 7612864 GPS 300714,052325,7103.032,-14428.059,15,0.9,35,22.4

_24V_AH 12.56,9.798

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 469 133.77 nil 0 0 0.00

Roll_motor 58 143 105.47 nil 0 0 0.00

VBD_pump_during_apogee 599 2762 20814.09 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 8836 15 1735.06

Iridium_during_xfer 411 198 1024.24 TMICL 8887 13 1482.77

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 6495 2 188.90

TT8_Active 715 8 78.68

TT8_Sampling 2255 28 800.80

TT8_CF8 77 35 34.76

TT8_Kalman 0 0 0.00

Analog_circuits 1820 10 229.19

GPS_charging 0 0 0.00

Compass 1141 0 10.78

RAFOS 1479 48 893.79

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 -0.71 -145.9 204 2791 465 537 0.0 0.0 0 84 0.00 0.00 -62.95 0.000 16386 0.000 0.000 203 2791 2068 2112 2024 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.71 -145.9 204 2792 2114 2025 3.2 -3.3 6 142 11.43 2.42 -33.60 0.000 18948 0.470 0.105 2362 1382 3782 3853 3712 0 0 0 0 0 0 14.13 14.31 14.54

306 -0.66 -145.9 2362 1382 3855 3715 51.8 -20.8 47 315 0.00 2.58 0.00 0.000 1030 0.000 0.120 2360 2808 3784 3853 3715 0 0 0 0 0 0 28.83 14.37 28.83

611 -0.63 -145.9 2361 2808 3855 3716 107.3 -16.9 78 614 0.15 0.00 0.00 0.000 2054 0.356 0.000 2390 2807 3785 3853 3717 0 0 0 0 0 0 14.36 28.83 28.83

911 -0.63 -145.9 2391 2804 3854 3717 149.2 -13.4 108 919 0.00 2.42 0.00 0.000 516 0.000 0.085 2390 1384 3784 3853 3716 0 0 0 0 0 0 28.83 14.50 28.83

1048 -0.66 -145.9 2391 1384 3854 3724 166.0 -11.3 135 1057 0.00 2.53 0.00 0.000 1030 0.000 0.119 2387 2796 3784 3851 3718 0 0 0 0 0 0 28.83 14.50 28.83

1354 -0.68 -145.9 2388 2795 3854 3717 199.7 -10.3 166 1357 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2796 3785 3853 3717 0 0 0 0 0 0 28.83 28.83 28.83

1653 -0.72 -145.9 2388 2796 3853 3715 229.6 -9.9 196 1661 0.00 2.40 0.00 0.000 516 0.000 0.086 2387 1386 3783 3853 3714 0 0 0 0 0 0 28.83 14.57 28.83

1730 -0.76 -145.9 2388 1386 3854 3715 236.9 -9.3 211 1739 0.00 2.55 0.00 0.000 1030 0.000 0.122 2387 2808 3783 3852 3715 0 0 0 0 0 0 28.83 14.50 28.83

2045 -0.80 -145.9 2388 2809 3853 3714 267.8 -9.6 231 2053 0.15 2.40 0.00 0.000 4612 0.143 0.086 2328 1390 3781 3852 3711 0 0 0 0 0 0 14.61 14.59 28.83

2097 -0.80 -145.9 2328 1389 3853 3714 273.7 -11.7 241 2106 0.00 2.53 0.00 0.000 1030 0.000 0.120 2318 2808 3782 3851 3714 0 0 0 0 0 0 28.83 14.55 28.83

2411 -0.80 -145.9 2319 2809 3852 3715 312.8 -12.5 253 2413 0.00 0.00 0.00 0.000 6 0.000 0.000 2318 2808 3779 3845 3714 0 0 0 0 0 0 28.83 28.83 28.83

2710 -0.80 -145.9 2319 2808 3852 3714 350.4 -12.4 263 2718 0.00 2.40 0.00 0.000 516 0.000 0.086 2318 1384 3782 3850 3714 0 0 0 0 0 0 28.83 14.63 28.83

2817 -0.80 -145.9 2319 1384 3851 3714 362.9 -11.8 284 2825 0.12 2.53 0.00 0.000 3078 0.331 0.120 2332 2808 3782 3850 3714 0 0 0 0 0 0 14.54 14.59 28.83

3135 -0.80 -145.9 2333 2806 3850 3710 399.3 -11.4 297 3137 0.00 0.00 0.00 0.000 6 0.000 0.000 2332 2808 3782 3850 3714 0 0 0 0 0 0 28.83 28.83 28.83

3434 -0.80 -145.9 2333 2808 3851 3714 433.6 -11.4 307 3442 0.00 2.38 0.00 0.000 516 0.000 0.086 2338 1390 3782 3850 3714 0 0 0 0 0 0 28.83 14.65 28.83

3501 -0.80 -145.9 2333 1390 3851 3714 441.0 -11.3 320 3509 0.00 2.50 0.00 0.000 1030 0.000 0.119 2323 2802 3782 3850 3714 0 0 0 0 0 0 28.83 14.62 28.83

3829 -0.80 -145.9 2324 2802 3850 3715 479.0 -11.6 335 3832 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2802 3782 3850 3714 0 0 0 0 0 0 28.83 28.83 28.83

4007 end dive: TARGET_DEPTH_EXCEEDED

state 4007 begin apogee

4010 -0.14 0.0 2323 3049 3851 3714 500.0 -11.5 341 4155 0.88 0.00 135.20 2.762 10246 0.294 0.000 2545 3049 3185 3263 3108 0 0 0 0 1 0 14.51 28.83 12.56

4157 end apogee: CONTROL_FINISHED_OK

state 4157 begin climb

4158 0.71 145.9 2546 3049 3281 3108 503.4 0.0 345 4302 0.98 1.48 128.93 1.533 10500 0.192 0.128 2818 3784 2582 2648 2516 0 0 0 0 0 0 13.63 13.52 13.05

4441 0.67 145.9 2818 3784 2641 2508 472.8 15.2 394 4449 0.00 1.33 0.00 0.000 1030 0.000 0.083 2823 3050 2572 2640 2504 0 0 0 0 0 0 28.83 13.93 28.83

4769 0.64 145.9 2824 3050 2640 2508 427.6 13.7 409 4771 0.00 0.00 0.00 0.000 6 0.000 0.000 2823 3050 2573 2639 2507 0 0 0 0 0 0 28.83 28.83 28.83

5068 0.61 145.9 2824 3050 2641 2507 386.5 13.6 419 5071 0.00 0.00 0.00 0.000 6 0.000 0.000 2823 3050 2572 2639 2506 0 0 0 0 0 0 28.83 28.83 28.83

5368 0.58 145.9 2824 3049 2640 2506 346.1 13.4 429 5378 0.15 1.38 0.00 0.000 4356 0.304 0.132 2789 3785 2572 2639 2506 0 0 0 0 0 0 14.26 14.30 28.83

5417 0.56 145.9 2791 3785 2641 2506 339.6 13.0 438 5424 0.00 1.27 0.00 0.000 1030 0.000 0.085 2796 3050 2573 2640 2506 0 0 0 0 0 0 28.83 14.40 28.83

5734 0.56 145.9 2797 3050 2641 2507 301.7 12.0 451 5737 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 3050 2573 2640 2506 0 0 0 0 0 0 28.83 28.83 28.83

6034 0.56 147.7 2796 3050 2640 2506 265.7 11.8 461 6036 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 3050 2572 2639 2506 0 0 0 0 0 0 28.83 28.83 28.83

6334 0.57 159.7 2796 3050 2641 2506 231.2 11.3 481 6351 0.00 0.00 11.40 1.385 8198 0.000 0.000 2796 3050 2528 2597 2459 0 0 0 0 0 0 28.83 28.83 13.95

6645 0.59 180.0 2797 3050 2591 2453 196.9 10.8 512 6671 0.00 0.00 18.45 1.278 8198 0.000 0.000 2796 3050 2442 2511 2373 0 0 0 0 0 0 28.83 28.83 13.96

6965 0.62 225.9 2796 3050 2504 2367 164.3 9.4 544 7015 0.00 2.50 40.20 1.089 8708 0.000 0.084 2806 1635 2254 2317 2191 0 0 0 0 0 0 28.83 14.24 13.87

7055 0.70 273.5 2807 1635 2312 2187 155.8 9.3 557 7106 0.00 2.55 42.55 1.030 9222 0.000 0.118 2806 3046 2063 2127 2000 0 0 0 0 0 0 28.83 14.26 13.75

7400 0.76 306.1 2807 3047 2108 1982 119.8 10.1 594 7435 0.12 2.50 28.05 1.040 10756 0.151 0.086 2862 1646 1928 1989 1867 0 0 0 0 0 0 14.40 14.23 13.86

7539 0.78 307.8 2864 1645 1975 1861 103.2 11.8 620 7547 0.00 2.55 0.00 0.000 1030 0.000 0.117 2863 3056 1916 1974 1859 0 0 0 0 0 0 28.83 14.29 28.83

7851 0.79 314.4 2863 3056 1974 1854 63.7 11.5 652 7860 0.00 2.40 0.00 0.000 516 0.000 0.085 2870 1641 1913 1974 1853 0 0 0 0 0 0 28.83 14.42 28.83

7929 0.85 350.6 2871 1641 1975 1854 55.5 9.9 667 7958 0.00 2.53 22.17 0.327 9222 0.000 0.119 2870 3052 1755 1814 1697 0 0 0 0 0 0 28.83 14.45 14.27

8263 0.92 412.6 2868 3053 1843 1706 23.9 8.5 702 8305 0.00 2.47 36.20 0.241 8708 0.000 0.085 2877 1642 1504 1562 1447 0 0 0 0 0 0 28.83 14.42 14.35

8330 1.03 482.4 2878 1643 1581 1448 18.1 8.1 711 8379 0.17 2.53 40.08 0.223 11270 0.127 0.119 2947 3053 1219 1260 1179 0 0 0 0 0 0 14.46 14.41 14.32

8683 1.23 660.3 2949 3054 1278 1179 8.2 2.2 749 8786 0.15 1.40 96.68 0.192 10500 0.152 0.135 3007 3784 498 460 536 0 0 0 0 0 0 14.47 14.34 14.33

8789 end climb: SURFACE_DEPTH_REACHED

state 8789 begin surface coast

8809 end surface coast: CONTROL_FINISHED_OK

state 8809 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	28	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	29	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	15	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	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	60	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	-3357.7356	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	2600	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	36	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	300714,024254,7101.899,-14428.262,35,0.8,55,22.3	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	1.90	MHEAD_RNG_PITCHd_Wd	342.5,64043,-21.9,-11.905,-26.85,1887
_SM_ANGLEo	-72.2	D_GRID	1000
GPS2	300714,025346,7101.901,-14428.229,4,0.8,24,22.3

FINISH	0.9,1.014947	_10V_AH	12.59,0.000
SM_CCo	8892,0.00,0.000,0,0,499,659.12	FG_AHR_24Vo	0.000
SM_GC	2.02,8.38,1.75,0.00,0.091,0.083,0.000,207,2794,499,-7.42,0.74,659.12,0,0,0,0,0,0,14.42,14.40,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	315	MEM	300216
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26717,769
IRIDIUM_FIX	7026.32,-14432.35,300714,000754	CAP_FILE_SIZE	128471,0
TT8_MAMPS	0.046438,0.046438	CFSIZE	2097872896,2087059456
HUMID	52.08	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.58355	INTR	0,9523.30,0x2378b6,7,5
TCM_TEMP	12.70	SOUNDSPEED	1449.4
XPDR_PINGS	0	EKF	8964,4262.930664,-8668.289062,0.938133,-0.019671,-0.090708,-0.016582,0.000143,0.001353,0.000095,0.001525,0.001525,0.000034
SC_FREEKB	4007840	CURRENT	0.027,38.67,1
TM_FREEKB	7612864	GPS	300714,052325,7103.032,-14428.059,15,0.9,35,22.4
_24V_AH	12.56,9.798

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	469	133.77	nil	0	0	0.00
Roll_motor	58	143	105.47	nil	0	0	0.00
VBD_pump_during_apogee	599	2762	20814.09	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	8836	15	1735.06
Iridium_during_xfer	411	198	1024.24	TMICL	8887	13	1482.77
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	6495	2	188.90
TT8_Active	715	8	78.68
TT8_Sampling	2255	28	800.80
TT8_CF8	77	35	34.76
TT8_Kalman	0	0	0.00
Analog_circuits	1820	10	229.19
GPS_charging	0	0	0.00
Compass	1141	0	10.78
RAFOS	1479	48	893.79
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	-0.71	-145.9	204	2791	465	537	0.0	0.0	0	84	0.00	0.00	-62.95	0.000	16386	0.000	0.000	203	2791	2068	2112	2024	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.71	-145.9	204	2792	2114	2025	3.2	-3.3	6	142	11.43	2.42	-33.60	0.000	18948	0.470	0.105	2362	1382	3782	3853	3712	0	0	0	0	0	0	14.13	14.31	14.54
306	-0.66	-145.9	2362	1382	3855	3715	51.8	-20.8	47	315	0.00	2.58	0.00	0.000	1030	0.000	0.120	2360	2808	3784	3853	3715	0	0	0	0	0	0	28.83	14.37	28.83
611	-0.63	-145.9	2361	2808	3855	3716	107.3	-16.9	78	614	0.15	0.00	0.00	0.000	2054	0.356	0.000	2390	2807	3785	3853	3717	0	0	0	0	0	0	14.36	28.83	28.83
911	-0.63	-145.9	2391	2804	3854	3717	149.2	-13.4	108	919	0.00	2.42	0.00	0.000	516	0.000	0.085	2390	1384	3784	3853	3716	0	0	0	0	0	0	28.83	14.50	28.83
1048	-0.66	-145.9	2391	1384	3854	3724	166.0	-11.3	135	1057	0.00	2.53	0.00	0.000	1030	0.000	0.119	2387	2796	3784	3851	3718	0	0	0	0	0	0	28.83	14.50	28.83
1354	-0.68	-145.9	2388	2795	3854	3717	199.7	-10.3	166	1357	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2796	3785	3853	3717	0	0	0	0	0	0	28.83	28.83	28.83
1653	-0.72	-145.9	2388	2796	3853	3715	229.6	-9.9	196	1661	0.00	2.40	0.00	0.000	516	0.000	0.086	2387	1386	3783	3853	3714	0	0	0	0	0	0	28.83	14.57	28.83
1730	-0.76	-145.9	2388	1386	3854	3715	236.9	-9.3	211	1739	0.00	2.55	0.00	0.000	1030	0.000	0.122	2387	2808	3783	3852	3715	0	0	0	0	0	0	28.83	14.50	28.83
2045	-0.80	-145.9	2388	2809	3853	3714	267.8	-9.6	231	2053	0.15	2.40	0.00	0.000	4612	0.143	0.086	2328	1390	3781	3852	3711	0	0	0	0	0	0	14.61	14.59	28.83
2097	-0.80	-145.9	2328	1389	3853	3714	273.7	-11.7	241	2106	0.00	2.53	0.00	0.000	1030	0.000	0.120	2318	2808	3782	3851	3714	0	0	0	0	0	0	28.83	14.55	28.83
2411	-0.80	-145.9	2319	2809	3852	3715	312.8	-12.5	253	2413	0.00	0.00	0.00	0.000	6	0.000	0.000	2318	2808	3779	3845	3714	0	0	0	0	0	0	28.83	28.83	28.83
2710	-0.80	-145.9	2319	2808	3852	3714	350.4	-12.4	263	2718	0.00	2.40	0.00	0.000	516	0.000	0.086	2318	1384	3782	3850	3714	0	0	0	0	0	0	28.83	14.63	28.83
2817	-0.80	-145.9	2319	1384	3851	3714	362.9	-11.8	284	2825	0.12	2.53	0.00	0.000	3078	0.331	0.120	2332	2808	3782	3850	3714	0	0	0	0	0	0	14.54	14.59	28.83
3135	-0.80	-145.9	2333	2806	3850	3710	399.3	-11.4	297	3137	0.00	0.00	0.00	0.000	6	0.000	0.000	2332	2808	3782	3850	3714	0	0	0	0	0	0	28.83	28.83	28.83
3434	-0.80	-145.9	2333	2808	3851	3714	433.6	-11.4	307	3442	0.00	2.38	0.00	0.000	516	0.000	0.086	2338	1390	3782	3850	3714	0	0	0	0	0	0	28.83	14.65	28.83
3501	-0.80	-145.9	2333	1390	3851	3714	441.0	-11.3	320	3509	0.00	2.50	0.00	0.000	1030	0.000	0.119	2323	2802	3782	3850	3714	0	0	0	0	0	0	28.83	14.62	28.83
3829	-0.80	-145.9	2324	2802	3850	3715	479.0	-11.6	335	3832	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	2802	3782	3850	3714	0	0	0	0	0	0	28.83	28.83	28.83
4007	end dive: TARGET_DEPTH_EXCEEDED
state	4007	begin apogee
4010	-0.14	0.0	2323	3049	3851	3714	500.0	-11.5	341	4155	0.88	0.00	135.20	2.762	10246	0.294	0.000	2545	3049	3185	3263	3108	0	0	0	0	1	0	14.51	28.83	12.56
4157	end apogee: CONTROL_FINISHED_OK
state	4157	begin climb
4158	0.71	145.9	2546	3049	3281	3108	503.4	0.0	345	4302	0.98	1.48	128.93	1.533	10500	0.192	0.128	2818	3784	2582	2648	2516	0	0	0	0	0	0	13.63	13.52	13.05
4441	0.67	145.9	2818	3784	2641	2508	472.8	15.2	394	4449	0.00	1.33	0.00	0.000	1030	0.000	0.083	2823	3050	2572	2640	2504	0	0	0	0	0	0	28.83	13.93	28.83
4769	0.64	145.9	2824	3050	2640	2508	427.6	13.7	409	4771	0.00	0.00	0.00	0.000	6	0.000	0.000	2823	3050	2573	2639	2507	0	0	0	0	0	0	28.83	28.83	28.83
5068	0.61	145.9	2824	3050	2641	2507	386.5	13.6	419	5071	0.00	0.00	0.00	0.000	6	0.000	0.000	2823	3050	2572	2639	2506	0	0	0	0	0	0	28.83	28.83	28.83
5368	0.58	145.9	2824	3049	2640	2506	346.1	13.4	429	5378	0.15	1.38	0.00	0.000	4356	0.304	0.132	2789	3785	2572	2639	2506	0	0	0	0	0	0	14.26	14.30	28.83
5417	0.56	145.9	2791	3785	2641	2506	339.6	13.0	438	5424	0.00	1.27	0.00	0.000	1030	0.000	0.085	2796	3050	2573	2640	2506	0	0	0	0	0	0	28.83	14.40	28.83
5734	0.56	145.9	2797	3050	2641	2507	301.7	12.0	451	5737	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	3050	2573	2640	2506	0	0	0	0	0	0	28.83	28.83	28.83
6034	0.56	147.7	2796	3050	2640	2506	265.7	11.8	461	6036	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	3050	2572	2639	2506	0	0	0	0	0	0	28.83	28.83	28.83
6334	0.57	159.7	2796	3050	2641	2506	231.2	11.3	481	6351	0.00	0.00	11.40	1.385	8198	0.000	0.000	2796	3050	2528	2597	2459	0	0	0	0	0	0	28.83	28.83	13.95
6645	0.59	180.0	2797	3050	2591	2453	196.9	10.8	512	6671	0.00	0.00	18.45	1.278	8198	0.000	0.000	2796	3050	2442	2511	2373	0	0	0	0	0	0	28.83	28.83	13.96
6965	0.62	225.9	2796	3050	2504	2367	164.3	9.4	544	7015	0.00	2.50	40.20	1.089	8708	0.000	0.084	2806	1635	2254	2317	2191	0	0	0	0	0	0	28.83	14.24	13.87
7055	0.70	273.5	2807	1635	2312	2187	155.8	9.3	557	7106	0.00	2.55	42.55	1.030	9222	0.000	0.118	2806	3046	2063	2127	2000	0	0	0	0	0	0	28.83	14.26	13.75
7400	0.76	306.1	2807	3047	2108	1982	119.8	10.1	594	7435	0.12	2.50	28.05	1.040	10756	0.151	0.086	2862	1646	1928	1989	1867	0	0	0	0	0	0	14.40	14.23	13.86
7539	0.78	307.8	2864	1645	1975	1861	103.2	11.8	620	7547	0.00	2.55	0.00	0.000	1030	0.000	0.117	2863	3056	1916	1974	1859	0	0	0	0	0	0	28.83	14.29	28.83
7851	0.79	314.4	2863	3056	1974	1854	63.7	11.5	652	7860	0.00	2.40	0.00	0.000	516	0.000	0.085	2870	1641	1913	1974	1853	0	0	0	0	0	0	28.83	14.42	28.83
7929	0.85	350.6	2871	1641	1975	1854	55.5	9.9	667	7958	0.00	2.53	22.17	0.327	9222	0.000	0.119	2870	3052	1755	1814	1697	0	0	0	0	0	0	28.83	14.45	14.27
8263	0.92	412.6	2868	3053	1843	1706	23.9	8.5	702	8305	0.00	2.47	36.20	0.241	8708	0.000	0.085	2877	1642	1504	1562	1447	0	0	0	0	0	0	28.83	14.42	14.35
8330	1.03	482.4	2878	1643	1581	1448	18.1	8.1	711	8379	0.17	2.53	40.08	0.223	11270	0.127	0.119	2947	3053	1219	1260	1179	0	0	0	0	0	0	14.46	14.41	14.32
8683	1.23	660.3	2949	3054	1278	1179	8.2	2.2	749	8786	0.15	1.40	96.68	0.192	10500	0.152	0.135	3007	3784	498	460	536	0	0	0	0	0	0	14.47	14.34	14.33
8789	end climb: SURFACE_DEPTH_REACHED
state	8789	begin surface coast
8809	end surface coast: CONTROL_FINISHED_OK
state	8809	begin surface