Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 29 * 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 29 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 -3358.9929 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 -3358.9929

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 29 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 300714,052325,7103.032,-14428.059,15,0.9,35,22.4 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 344.2,61964,-21.9,-11.905,-26.85,1887

_SM_ANGLEo -72.8 D_GRID 1000

GPS2 300714,053356,7103.027,-14427.981,5,0.9,25,22.4

Post-dive calculations and measurements:

FINISH 0.9,1.019514 _10V_AH 12.62,0.000

SM_CCo 8883,54.85,0.181,0,0,538,649.06 FG_AHR_24Vo 0.000

SM_GC 2.07,8.45,0.43,54.85,0.103,0.096,0.181,199,2802,538,-7.44,1.02,649.06,0,0,0,0,0,0,14.45,14.43,14.33 FG_AHR_10Vo 0.000

RAFOS_CLK 21 MEM 299840

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23412,707

IRIDIUM_FIX 7026.32,-14432.35,300714,024647 CAP_FILE_SIZE 125243,0

TT8_MAMPS 0.081641,0.081641 CFSIZE 2097872896,2086797312

HUMID 51.73 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.58355 INTR 0,9616.67,0x2378b6,7,5

TCM_TEMP 12.40 SOUNDSPEED 1449.1

XPDR_PINGS 0 EKF 9030,4264.105469,-8667.625000,0.936243,0.002831,-0.105515,-0.004602,0.000153,0.001450,0.000099,0.001025,0.001025,0.000050

SC_FREEKB 4007392 CURRENT 0.018,41.48,1

TM_FREEKB 7598688 GPS 300714,080448,7104.173,-14427.472,34,0.8,54,22.4

_24V_AH 12.63,10.170

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 465 132.54 nil 0 0 0.00

Roll_motor 53 142 95.38 nil 0 0 0.00

VBD_pump_during_apogee 558 2652 18711.13 nil 0 0 0.00

VBD_pump_during_surface 54 180 125.07 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 8887 15 1718.10

Iridium_during_xfer 392 203 1008.88 TMICL 8941 13 1500.66

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 6650 2 193.87

TT8_Active 718 8 79.18

TT8_Sampling 2135 28 760.03

TT8_CF8 74 35 33.47

TT8_Kalman 0 0 0.00

Analog_circuits 1765 10 222.85

GPS_charging 0 0 0.00

Compass 1053 0 9.97

RAFOS 1495 48 905.61

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

18 -0.71 -145.9 206 2793 463 535 0.0 0.0 0 84 0.00 0.00 -62.75 0.000 16386 0.000 0.000 205 2797 2050 2089 2012 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.71 -145.9 206 2793 2091 2013 3.0 -2.7 6 142 11.30 2.40 -35.10 0.000 18948 0.466 0.104 2360 1390 3781 3858 3705 0 0 0 0 0 0 14.18 14.35 14.54

146 -0.58 -145.9 2361 1390 3859 3700 18.1 -24.5 15 156 0.22 2.58 0.00 0.000 3078 0.360 0.120 2406 2806 3781 3857 3706 0 0 0 0 0 0 14.21 14.31 28.83

452 -0.58 -145.9 2407 2806 3858 3710 74.4 -15.2 46 454 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2806 3784 3857 3711 0 0 0 0 0 0 28.83 28.83 28.83

751 -0.58 -145.9 2407 2807 3858 3711 117.0 -13.7 76 760 0.00 2.40 0.00 0.000 516 0.000 0.085 2406 1391 3784 3857 3711 0 0 0 0 0 0 28.83 14.51 28.83

798 -0.61 -145.9 2407 1392 3858 3712 122.9 -12.3 85 809 0.00 2.53 0.00 0.000 1030 0.000 0.116 2400 2806 3784 3857 3711 0 0 0 0 0 0 28.83 14.48 28.83

1104 -0.63 -145.9 2401 2807 3858 3712 162.1 -12.8 116 1112 0.00 2.40 0.00 0.000 516 0.000 0.083 2400 1386 3784 3857 3711 0 0 0 0 0 0 28.83 14.54 28.83

1156 -0.67 -145.9 2400 1386 3859 3711 168.6 -12.2 126 1164 0.00 2.53 0.00 0.000 1030 0.000 0.119 2400 2797 3784 3857 3711 0 0 0 0 0 0 28.83 14.52 28.83

1469 -0.71 -145.9 2401 2798 3857 3711 200.8 -10.1 158 1471 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2798 3783 3856 3711 0 0 0 0 0 0 28.83 28.83 28.83

1768 -0.75 -145.9 2401 2799 3854 3712 228.9 -8.9 188 1771 0.15 0.00 0.00 0.000 4102 0.142 0.000 2341 2798 3782 3853 3711 0 0 0 0 0 0 14.59 28.83 28.83

2078 -0.75 -145.9 2341 2794 3852 3711 264.8 -11.6 211 2086 0.00 2.40 0.00 0.000 516 0.000 0.085 2340 1382 3781 3851 3711 0 0 0 0 0 0 28.83 14.59 28.83

2124 -0.75 -145.9 2341 1382 3852 3712 270.1 -10.9 220 2133 0.00 2.53 0.00 0.000 1030 0.000 0.119 2333 2802 3781 3851 3711 0 0 0 0 0 0 28.83 14.57 28.83

2443 -0.75 -145.9 2333 2803 3851 3712 307.5 -11.8 233 2445 0.00 0.00 0.00 0.000 6 0.000 0.000 2332 2802 3780 3850 3711 0 0 0 0 0 0 28.83 28.83 28.83

2742 -0.75 -145.9 2333 2802 3845 3711 342.7 -11.7 243 2745 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2802 3780 3850 3711 0 0 0 0 0 0 28.83 28.83 28.83

3043 -0.75 -145.9 2333 2802 3850 3712 377.8 -11.8 253 3045 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2802 3780 3849 3711 0 0 0 0 0 0 28.83 28.83 28.83

3342 -0.75 -145.9 2333 2802 3848 3711 412.8 -11.6 263 3351 0.00 2.38 0.00 0.000 516 0.000 0.083 2339 1391 3778 3846 3711 0 0 0 0 0 0 28.83 14.66 28.83

3400 -0.75 -145.9 2334 1392 3847 3712 419.2 -11.4 274 3409 0.00 2.50 0.00 0.000 1030 0.000 0.119 2328 2803 3778 3846 3711 0 0 0 0 0 0 28.83 14.59 28.83

3705 -0.75 -145.9 2333 2804 3854 3711 454.3 -11.5 285 3708 0.12 0.00 0.00 0.000 2054 0.348 0.000 2349 2804 3778 3846 3711 0 0 0 0 0 0 14.54 28.83 28.83

4005 -0.75 -145.9 2353 2804 3847 3711 485.8 -10.4 295 4007 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2803 3779 3846 3712 0 0 0 0 0 0 28.83 28.83 28.83

4153 end dive: TARGET_DEPTH_EXCEEDED

state 4153 begin apogee

4157 -0.14 0.0 2351 3052 3847 3711 501.5 -10.5 300 4312 0.75 0.00 145.38 2.652 10246 0.279 0.000 2546 3052 3187 3264 3110 0 0 0 0 1 0 14.56 28.83 12.63

4314 end apogee: CONTROL_FINISHED_OK

state 4314 begin climb

4315 0.71 145.9 2548 3053 3277 3111 506.2 0.0 305 4461 0.98 1.48 130.20 1.621 10500 0.188 0.125 2825 3784 2579 2645 2514 0 0 0 0 0 0 13.64 13.51 13.02

4545 0.67 145.9 2822 3785 2638 2509 484.6 14.1 343 4553 0.00 1.33 0.00 0.000 1030 0.000 0.082 2825 3049 2573 2638 2508 0 0 0 0 0 0 28.83 13.85 28.83

4867 0.64 145.9 2826 3050 2639 2507 441.8 13.3 357 4869 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 3050 2571 2637 2506 0 0 0 0 0 0 28.83 28.83 28.83

5167 0.61 145.9 2826 3049 2639 2506 401.2 13.6 367 5170 0.00 0.00 0.00 0.000 6 0.000 0.000 2821 3049 2572 2638 2506 0 0 0 0 0 0 28.83 28.83 28.83

5467 0.58 145.9 2827 3050 2638 2506 359.8 13.8 377 5469 0.15 0.00 0.00 0.000 4102 0.312 0.000 2793 3050 2571 2638 2505 0 0 0 0 0 0 14.35 28.83 28.83

5766 0.58 145.9 2798 3049 2639 2505 323.3 12.1 387 5774 0.00 2.38 0.00 0.000 516 0.000 0.083 2803 1645 2571 2637 2505 0 0 0 0 0 0 28.83 14.50 28.83

5818 0.60 166.7 2804 1644 2639 2505 317.5 10.8 397 5841 0.00 2.50 17.52 1.364 9222 0.000 0.116 2803 3052 2505 2575 2436 0 0 0 0 0 0 28.83 14.49 13.88

6165 0.60 166.7 2804 3049 2557 2423 274.3 12.4 415 6168 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 3052 2489 2556 2422 0 0 0 0 0 0 28.83 28.83 28.83

6465 0.60 166.7 2803 3053 2552 2423 236.9 12.4 431 6468 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 3052 2488 2555 2422 0 0 0 0 0 0 28.83 28.83 28.83

6765 0.60 168.8 2804 3052 2556 2422 201.1 11.8 461 6768 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 3052 2488 2555 2422 0 0 0 0 0 0 28.83 28.83 28.83

7065 0.63 216.0 2806 3053 2556 2421 169.0 9.3 491 7115 0.00 2.50 42.85 1.195 8708 0.000 0.083 2813 1642 2295 2359 2232 0 0 0 0 0 0 28.83 14.30 13.86

7159 0.70 263.1 2814 1643 2350 2227 159.8 9.3 507 7208 0.00 2.53 42.08 1.120 9222 0.000 0.115 2813 3050 2107 2171 2044 0 0 0 0 0 0 28.83 14.32 13.72

7512 0.75 287.4 2814 3051 2151 2025 122.0 10.6 545 7541 0.00 2.42 20.60 1.047 8708 0.000 0.081 2821 1646 2002 2065 1940 0 0 0 0 0 0 28.83 14.29 13.90

7601 0.83 321.2 2821 1645 2055 1933 113.2 10.1 561 7638 0.15 2.53 30.73 1.019 11270 0.137 0.116 2882 3049 1873 1932 1814 0 0 0 0 0 0 14.35 14.28 13.80

7942 0.83 321.2 2882 3050 1905 1791 64.8 13.4 597 7952 0.00 2.42 0.00 0.000 516 0.000 0.084 2888 1638 1847 1904 1790 0 0 0 0 0 0 28.83 14.37 28.83

7986 0.85 352.5 2889 1637 1904 1790 60.1 10.2 605 8008 0.00 2.55 13.88 0.332 9222 0.000 0.117 2888 3057 1750 1811 1689 0 0 0 0 0 0 28.83 14.39 14.24

8313 0.88 398.1 2889 3058 1838 1690 24.8 9.4 639 8348 0.00 2.42 27.73 0.247 8708 0.000 0.081 2896 1636 1565 1626 1504 0 0 0 0 0 0 28.83 14.42 14.34

8417 1.03 527.2 2897 1637 1648 1505 16.6 4.9 658 8502 0.12 2.53 73.05 0.219 11270 0.152 0.117 2949 3051 1036 1059 1013 0 0 0 0 0 0 14.47 14.42 14.27

8810 1.22 663.5 2950 3051 1070 1014 2.6 4.5 701 8829 0.12 0.00 14.57 0.187 10498 0.164 0.000 2995 3050 931 952 911 0 0 0 0 0 0 14.43 28.83 28.83

8829 end climb: SURFACE_DEPTH_REACHED

state 8829 begin surface coast

8862 end surface coast: CONTROL_FINISHED_OK

state 8862 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	29	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	-3358.9929	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	300714,052325,7103.032,-14428.059,15,0.9,35,22.4	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	344.2,61964,-21.9,-11.905,-26.85,1887
_SM_ANGLEo	-72.8	D_GRID	1000
GPS2	300714,053356,7103.027,-14427.981,5,0.9,25,22.4

FINISH	0.9,1.019514	_10V_AH	12.62,0.000
SM_CCo	8883,54.85,0.181,0,0,538,649.06	FG_AHR_24Vo	0.000
SM_GC	2.07,8.45,0.43,54.85,0.103,0.096,0.181,199,2802,538,-7.44,1.02,649.06,0,0,0,0,0,0,14.45,14.43,14.33	FG_AHR_10Vo	0.000
RAFOS_CLK	21	MEM	299840
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23412,707
IRIDIUM_FIX	7026.32,-14432.35,300714,024647	CAP_FILE_SIZE	125243,0
TT8_MAMPS	0.081641,0.081641	CFSIZE	2097872896,2086797312
HUMID	51.73	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.58355	INTR	0,9616.67,0x2378b6,7,5
TCM_TEMP	12.40	SOUNDSPEED	1449.1
XPDR_PINGS	0	EKF	9030,4264.105469,-8667.625000,0.936243,0.002831,-0.105515,-0.004602,0.000153,0.001450,0.000099,0.001025,0.001025,0.000050
SC_FREEKB	4007392	CURRENT	0.018,41.48,1
TM_FREEKB	7598688	GPS	300714,080448,7104.173,-14427.472,34,0.8,54,22.4
_24V_AH	12.63,10.170

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	465	132.54	nil	0	0	0.00
Roll_motor	53	142	95.38	nil	0	0	0.00
VBD_pump_during_apogee	558	2652	18711.13	nil	0	0	0.00
VBD_pump_during_surface	54	180	125.07	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	8887	15	1718.10
Iridium_during_xfer	392	203	1008.88	TMICL	8941	13	1500.66
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	6650	2	193.87
TT8_Active	718	8	79.18
TT8_Sampling	2135	28	760.03
TT8_CF8	74	35	33.47
TT8_Kalman	0	0	0.00
Analog_circuits	1765	10	222.85
GPS_charging	0	0	0.00
Compass	1053	0	9.97
RAFOS	1495	48	905.61
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
18	-0.71	-145.9	206	2793	463	535	0.0	0.0	0	84	0.00	0.00	-62.75	0.000	16386	0.000	0.000	205	2797	2050	2089	2012	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.71	-145.9	206	2793	2091	2013	3.0	-2.7	6	142	11.30	2.40	-35.10	0.000	18948	0.466	0.104	2360	1390	3781	3858	3705	0	0	0	0	0	0	14.18	14.35	14.54
146	-0.58	-145.9	2361	1390	3859	3700	18.1	-24.5	15	156	0.22	2.58	0.00	0.000	3078	0.360	0.120	2406	2806	3781	3857	3706	0	0	0	0	0	0	14.21	14.31	28.83
452	-0.58	-145.9	2407	2806	3858	3710	74.4	-15.2	46	454	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2806	3784	3857	3711	0	0	0	0	0	0	28.83	28.83	28.83
751	-0.58	-145.9	2407	2807	3858	3711	117.0	-13.7	76	760	0.00	2.40	0.00	0.000	516	0.000	0.085	2406	1391	3784	3857	3711	0	0	0	0	0	0	28.83	14.51	28.83
798	-0.61	-145.9	2407	1392	3858	3712	122.9	-12.3	85	809	0.00	2.53	0.00	0.000	1030	0.000	0.116	2400	2806	3784	3857	3711	0	0	0	0	0	0	28.83	14.48	28.83
1104	-0.63	-145.9	2401	2807	3858	3712	162.1	-12.8	116	1112	0.00	2.40	0.00	0.000	516	0.000	0.083	2400	1386	3784	3857	3711	0	0	0	0	0	0	28.83	14.54	28.83
1156	-0.67	-145.9	2400	1386	3859	3711	168.6	-12.2	126	1164	0.00	2.53	0.00	0.000	1030	0.000	0.119	2400	2797	3784	3857	3711	0	0	0	0	0	0	28.83	14.52	28.83
1469	-0.71	-145.9	2401	2798	3857	3711	200.8	-10.1	158	1471	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	2798	3783	3856	3711	0	0	0	0	0	0	28.83	28.83	28.83
1768	-0.75	-145.9	2401	2799	3854	3712	228.9	-8.9	188	1771	0.15	0.00	0.00	0.000	4102	0.142	0.000	2341	2798	3782	3853	3711	0	0	0	0	0	0	14.59	28.83	28.83
2078	-0.75	-145.9	2341	2794	3852	3711	264.8	-11.6	211	2086	0.00	2.40	0.00	0.000	516	0.000	0.085	2340	1382	3781	3851	3711	0	0	0	0	0	0	28.83	14.59	28.83
2124	-0.75	-145.9	2341	1382	3852	3712	270.1	-10.9	220	2133	0.00	2.53	0.00	0.000	1030	0.000	0.119	2333	2802	3781	3851	3711	0	0	0	0	0	0	28.83	14.57	28.83
2443	-0.75	-145.9	2333	2803	3851	3712	307.5	-11.8	233	2445	0.00	0.00	0.00	0.000	6	0.000	0.000	2332	2802	3780	3850	3711	0	0	0	0	0	0	28.83	28.83	28.83
2742	-0.75	-145.9	2333	2802	3845	3711	342.7	-11.7	243	2745	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	2802	3780	3850	3711	0	0	0	0	0	0	28.83	28.83	28.83
3043	-0.75	-145.9	2333	2802	3850	3712	377.8	-11.8	253	3045	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	2802	3780	3849	3711	0	0	0	0	0	0	28.83	28.83	28.83
3342	-0.75	-145.9	2333	2802	3848	3711	412.8	-11.6	263	3351	0.00	2.38	0.00	0.000	516	0.000	0.083	2339	1391	3778	3846	3711	0	0	0	0	0	0	28.83	14.66	28.83
3400	-0.75	-145.9	2334	1392	3847	3712	419.2	-11.4	274	3409	0.00	2.50	0.00	0.000	1030	0.000	0.119	2328	2803	3778	3846	3711	0	0	0	0	0	0	28.83	14.59	28.83
3705	-0.75	-145.9	2333	2804	3854	3711	454.3	-11.5	285	3708	0.12	0.00	0.00	0.000	2054	0.348	0.000	2349	2804	3778	3846	3711	0	0	0	0	0	0	14.54	28.83	28.83
4005	-0.75	-145.9	2353	2804	3847	3711	485.8	-10.4	295	4007	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2803	3779	3846	3712	0	0	0	0	0	0	28.83	28.83	28.83
4153	end dive: TARGET_DEPTH_EXCEEDED
state	4153	begin apogee
4157	-0.14	0.0	2351	3052	3847	3711	501.5	-10.5	300	4312	0.75	0.00	145.38	2.652	10246	0.279	0.000	2546	3052	3187	3264	3110	0	0	0	0	1	0	14.56	28.83	12.63
4314	end apogee: CONTROL_FINISHED_OK
state	4314	begin climb
4315	0.71	145.9	2548	3053	3277	3111	506.2	0.0	305	4461	0.98	1.48	130.20	1.621	10500	0.188	0.125	2825	3784	2579	2645	2514	0	0	0	0	0	0	13.64	13.51	13.02
4545	0.67	145.9	2822	3785	2638	2509	484.6	14.1	343	4553	0.00	1.33	0.00	0.000	1030	0.000	0.082	2825	3049	2573	2638	2508	0	0	0	0	0	0	28.83	13.85	28.83
4867	0.64	145.9	2826	3050	2639	2507	441.8	13.3	357	4869	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	3050	2571	2637	2506	0	0	0	0	0	0	28.83	28.83	28.83
5167	0.61	145.9	2826	3049	2639	2506	401.2	13.6	367	5170	0.00	0.00	0.00	0.000	6	0.000	0.000	2821	3049	2572	2638	2506	0	0	0	0	0	0	28.83	28.83	28.83
5467	0.58	145.9	2827	3050	2638	2506	359.8	13.8	377	5469	0.15	0.00	0.00	0.000	4102	0.312	0.000	2793	3050	2571	2638	2505	0	0	0	0	0	0	14.35	28.83	28.83
5766	0.58	145.9	2798	3049	2639	2505	323.3	12.1	387	5774	0.00	2.38	0.00	0.000	516	0.000	0.083	2803	1645	2571	2637	2505	0	0	0	0	0	0	28.83	14.50	28.83
5818	0.60	166.7	2804	1644	2639	2505	317.5	10.8	397	5841	0.00	2.50	17.52	1.364	9222	0.000	0.116	2803	3052	2505	2575	2436	0	0	0	0	0	0	28.83	14.49	13.88
6165	0.60	166.7	2804	3049	2557	2423	274.3	12.4	415	6168	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	3052	2489	2556	2422	0	0	0	0	0	0	28.83	28.83	28.83
6465	0.60	166.7	2803	3053	2552	2423	236.9	12.4	431	6468	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	3052	2488	2555	2422	0	0	0	0	0	0	28.83	28.83	28.83
6765	0.60	168.8	2804	3052	2556	2422	201.1	11.8	461	6768	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	3052	2488	2555	2422	0	0	0	0	0	0	28.83	28.83	28.83
7065	0.63	216.0	2806	3053	2556	2421	169.0	9.3	491	7115	0.00	2.50	42.85	1.195	8708	0.000	0.083	2813	1642	2295	2359	2232	0	0	0	0	0	0	28.83	14.30	13.86
7159	0.70	263.1	2814	1643	2350	2227	159.8	9.3	507	7208	0.00	2.53	42.08	1.120	9222	0.000	0.115	2813	3050	2107	2171	2044	0	0	0	0	0	0	28.83	14.32	13.72
7512	0.75	287.4	2814	3051	2151	2025	122.0	10.6	545	7541	0.00	2.42	20.60	1.047	8708	0.000	0.081	2821	1646	2002	2065	1940	0	0	0	0	0	0	28.83	14.29	13.90
7601	0.83	321.2	2821	1645	2055	1933	113.2	10.1	561	7638	0.15	2.53	30.73	1.019	11270	0.137	0.116	2882	3049	1873	1932	1814	0	0	0	0	0	0	14.35	14.28	13.80
7942	0.83	321.2	2882	3050	1905	1791	64.8	13.4	597	7952	0.00	2.42	0.00	0.000	516	0.000	0.084	2888	1638	1847	1904	1790	0	0	0	0	0	0	28.83	14.37	28.83
7986	0.85	352.5	2889	1637	1904	1790	60.1	10.2	605	8008	0.00	2.55	13.88	0.332	9222	0.000	0.117	2888	3057	1750	1811	1689	0	0	0	0	0	0	28.83	14.39	14.24
8313	0.88	398.1	2889	3058	1838	1690	24.8	9.4	639	8348	0.00	2.42	27.73	0.247	8708	0.000	0.081	2896	1636	1565	1626	1504	0	0	0	0	0	0	28.83	14.42	14.34
8417	1.03	527.2	2897	1637	1648	1505	16.6	4.9	658	8502	0.12	2.53	73.05	0.219	11270	0.152	0.117	2949	3051	1036	1059	1013	0	0	0	0	0	0	14.47	14.42	14.27
8810	1.22	663.5	2950	3051	1070	1014	2.6	4.5	701	8829	0.12	0.00	14.57	0.187	10498	0.164	0.000	2995	3050	931	952	911	0	0	0	0	0	0	14.43	28.83	28.83
8829	end climb: SURFACE_DEPTH_REACHED
state	8829	begin surface coast
8862	end surface coast: CONTROL_FINISHED_OK
state	8862	begin surface