Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 30 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 0 C_ROLL_CLIMB 2840 ALTIM_FREQUENCY 13

MISSION 7 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 30 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 41 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 19 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 681.01007 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.75

D_ABORT 600 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 3317 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 3 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 140 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 180 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 20 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -4711.8086 PITCH_W_GAIN 0 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044209026

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00065043929

T_WATCHDOG 10 PITCH_MIN 208 MINV_10V 11 SEABIRD_T_I 2.5803243e-05

RELAUNCH 1 PITCH_MAX 3896 FG_AHR_10V 0 SEABIRD_T_J 3.1106315e-06

APOGEE_PITCH -5 C_PITCH 2909 FG_AHR_24V 0 SEABIRD_C_G -9.7475271

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1204907

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -73.350418 SEABIRD_C_I -0.00083350006

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001164176 SEABIRD_C_J 0.00013962483

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 38 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54281 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 160 COMPASS_USE 4 TM_RECORDABOVE 2000.0

NAV_MODE 10 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 10 TM_LOGSAMPLE 0.0

HD_A 0.0043000001 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3787 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 4.3e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 400

HEADING -1 C_ROLL_DIVE 2700 ALTIM_PING_DELTA 20

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 500 PITCH_GAIN 38 SURFACE_URGENCY_FORCE 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3896 SURFACE_URGENCY_TRY 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 10 FERRY_MAX 45 PITCH_MIN 208 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 20 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 TGT_DEFAULT_LAT 4736

ALTIM_PING_DEPTH 400 FILEMGR 0 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001164176 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -73.350418 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0043000001 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

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

CALL_NDIVES 1 HEADING -1 RAFOS_CORR_THRESH 60 T_BOOST 4

CALL_TRIES 3 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 140

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_GPS 3

CAPUPLOAD 0 ID 196 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -4711.8086

COMM_SEQ 0 INT_PRESSURE_YINT 0.75 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_MISSION 180

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 71 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_DEG 40 T_TURN 225

C_PITCH 2909 LOGGERDEVICE4 -1 ROLL_MAX 3787 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2840 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2700 MASS 54281 ROLL_MIN 218 UNCOM_BLEED 20

C_VBD 3317 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 41 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 19 USE_ICE 0

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 7 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 10 SEABIRD_C_G -9.7475271 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1204907 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.00083350006 VBD_MIN 500

DIVE 30 N_FILEKB 8 SEABIRD_C_J 0.00013962483 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 N_GPS -20 SEABIRD_T_G 0.0044209026 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00065043929 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.5803243e-05 W_ADJ_DBAND 0

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.1106315e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 2 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.02 SM_CC 681.01007

D_PITCH 0 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 0 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 300714,085402,7105.826,-14419.214,17,0.8,37,22.4 SPEED_LIMITS 0.206,0.254

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.45 MHEAD_RNG_PITCHd_Wd 334.7,56247,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -77.8 D_GRID 1000

GPS2 300714,090431,7105.771,-14419.275,6,0.9,26,22.4

Post-dive calculations and measurements:

FREEZE 12.10,5.316,-1.398,0,1,0 _10V_AH 13.30,0.000

SM_CCo 8258,104.30,0.226,0,0,499,691.26 FG_AHR_24Vo 0.000

SM_GC 1.30,9.60,0.20,0.00,0.103,0.096,0.000,207,2709,494,-8.40,1.70,691.75,0,0,0,0,0,0,14.37,14.44,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 387 MEM 301844

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23428,690

IRIDIUM_FIX 7032.78,-14419.28,300714,062219 CAP_FILE_SIZE 122562,0

TT8_MAMPS 0.043442,0.043442 CFSIZE 2097872896,2085683200

HUMID 47.59 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.61163 INTR 0,9325.27,0x2378b6,7,5

TCM_TEMP 12.50 SOUNDSPEED 1448.6

XPDR_PINGS 1 EKF 8603,4266.889648,-8658.866211,12.098072,0.001499,-0.000631,-0.010590,0.000147,0.001405,0.000099,0.002025,0.002025,0.000050

SC_FREEKB 3924704 CURRENT 0.034,88.05,1

TM_FREEKB 7574304 GPS 300714,112808,7106.896,-14418.378,12,0.8,32,22.4

_24V_AH 13.05,10.937

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 403 130.21 nil 0 0 0.00

Roll_motor 58 133 101.14 nil 0 0 0.00

VBD_pump_during_apogee 440 1769 10179.20 nil 0 0 0.00

VBD_pump_during_surface 104 226 308.21 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 8270 15 1630.72

Iridium_during_xfer 391 184 941.81 TMICL 8326 13 1419.68

Transponder_ping 1 420 9.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.61

TT8 0 0 0.00

LPSleep 6293 2 193.34

TT8_Active 712 9 89.76

TT8_Sampling 2079 28 800.49

TT8_CF8 80 35 38.12

TT8_Kalman 0 0 0.00

Analog_circuits 1723 10 229.25

GPS_charging 0 0 0.00

Compass 1027 0 10.25

RAFOS 0 0 0.00

Transponder 14 30 5.62

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.70 -145.9 199 2701 486 584 0.0 0.0 0 86 0.00 0.00 -63.17 0.000 16386 0.000 0.000 198 2700 2180 2190 2170 0 0 0 0 0 0 28.83 28.83 28.83

88 -0.70 -145.9 198 2700 2191 2175 3.3 -3.7 6 138 12.18 2.03 -30.55 0.000 19204 0.403 0.133 2667 3793 3915 3975 3856 0 0 0 0 0 0 14.07 14.23 14.45

362 -0.54 -145.9 2668 3792 3979 3862 77.5 -22.0 58 372 0.22 1.85 0.00 0.000 3078 0.261 0.056 2724 2692 3919 3976 3862 0 0 0 0 0 0 14.22 14.37 28.83

668 -0.58 -145.9 2725 2692 3977 3862 123.4 -13.5 89 675 0.00 1.92 0.00 0.000 260 0.000 0.108 2718 3786 3919 3976 3862 0 0 0 0 0 0 28.83 14.38 28.83

824 -0.58 -145.9 2719 3787 3977 3863 146.3 -14.1 120 834 0.00 1.83 0.00 0.000 1030 0.000 0.058 2718 2696 3919 3976 3862 0 0 0 0 0 0 28.83 14.46 28.83

1130 -0.66 -145.9 2719 2696 3977 3863 184.1 -11.5 151 1133 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 2696 3919 3976 3862 0 0 0 0 0 0 28.83 28.83 28.83

1430 -0.76 -145.9 2718 2695 3977 3862 216.1 -10.2 181 1433 0.17 0.00 0.00 0.000 4102 0.116 0.000 2650 2696 3918 3976 3861 0 0 0 0 0 0 14.50 28.83 28.83

1749 -0.76 -145.9 2650 2696 3975 3863 258.8 -13.3 209 1758 0.00 1.92 0.00 0.000 260 0.000 0.109 2641 3789 3918 3974 3862 0 0 0 0 0 0 28.83 14.47 28.83

1832 -0.71 -145.9 2641 3789 3975 3862 271.2 -14.7 225 1840 0.10 1.80 0.00 0.000 3078 0.249 0.060 2667 2709 3917 3973 3862 0 0 0 0 0 0 14.38 14.52 28.83

2144 -0.71 -145.9 2668 2709 3969 3862 309.8 -12.1 237 2147 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2709 3917 3973 3862 0 0 0 0 0 0 28.83 28.83 28.83

2444 -0.71 -145.9 2668 2709 3973 3862 346.3 -12.2 247 2446 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2709 3917 3972 3862 0 0 0 0 0 0 28.83 28.83 28.83

2744 -0.71 -145.9 2668 2709 3972 3862 382.6 -12.1 257 2752 0.00 1.92 0.00 0.000 260 0.000 0.109 2661 3805 3916 3971 3861 0 0 0 0 0 0 28.83 14.52 28.83

2795 -0.71 -145.9 2662 3806 3971 3861 389.5 -13.9 267 2805 0.00 1.85 0.00 0.000 1030 0.000 0.060 2660 2692 3915 3969 3861 0 0 0 0 0 0 28.83 14.57 28.83

3109 -0.71 -145.9 2661 2692 3971 3861 428.7 -12.4 279 3111 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2692 3915 3970 3861 0 0 0 0 0 0 28.83 28.83 28.83

3409 -0.71 -145.9 2660 2692 3971 3861 465.0 -12.1 289 3417 0.00 1.92 0.00 0.000 260 0.000 0.109 2652 3790 3915 3970 3861 0 0 0 0 0 0 28.83 14.54 28.83

3481 -0.71 -145.9 2652 3794 3971 3861 474.6 -13.6 303 3490 0.00 1.83 0.00 0.000 1030 0.000 0.059 2652 2690 3915 3970 3861 0 0 0 0 0 0 28.83 14.58 28.83

3715 end dive: TARGET_DEPTH_EXCEEDED

state 3715 begin apogee

3718 -0.13 0.0 2652 2847 3970 3861 503.7 -12.4 314 3846 0.77 0.00 122.95 1.769 10246 0.241 0.000 2856 2846 3316 3337 3296 0 0 0 0 0 0 14.46 28.83 13.16

3848 end apogee: CONTROL_FINISHED_OK

state 3848 begin climb

3849 0.70 145.9 2858 2847 3333 3292 507.3 0.0 318 3981 0.93 0.00 121.57 1.645 10246 0.141 0.000 3128 2846 2717 2723 2712 0 0 0 0 0 0 13.83 28.83 13.05

4255 0.63 145.9 3128 2846 2724 2704 462.7 13.5 332 4257 0.00 0.00 0.00 0.000 6 0.000 0.000 3127 2846 2713 2724 2703 0 0 0 0 0 0 28.83 28.83 28.83

4555 0.56 145.9 3128 2845 2725 2702 421.9 13.7 342 4563 0.17 2.40 0.00 0.000 4612 0.272 0.073 3099 1455 2713 2724 2702 0 0 0 0 0 0 14.18 14.30 28.83

4612 0.61 167.1 3100 1455 2725 2702 415.6 10.7 353 4640 0.00 2.47 18.02 1.535 9222 0.000 0.098 3099 2841 2632 2642 2622 0 0 0 0 0 0 28.83 14.31 13.57

4954 0.61 167.1 3100 2840 2643 2617 373.6 12.2 370 4962 0.00 2.38 0.00 0.000 516 0.000 0.071 3109 1452 2629 2642 2617 0 0 0 0 0 0 28.83 14.34 28.83

4991 0.61 168.1 3110 1453 2642 2618 369.3 11.9 377 4999 0.00 2.47 0.00 0.000 1030 0.000 0.097 3109 2845 2629 2642 2617 0 0 0 0 0 0 28.83 14.34 28.83

5318 0.61 168.1 3110 2845 2643 2616 327.8 12.8 392 5326 0.00 2.35 0.00 0.000 516 0.000 0.072 3117 1456 2629 2642 2616 0 0 0 0 0 0 28.83 14.42 28.83

5355 0.62 170.1 3118 1456 2643 2616 323.3 11.8 399 5364 0.00 2.45 0.00 0.000 1030 0.000 0.098 3117 2841 2628 2642 2615 0 0 0 0 0 0 28.83 14.42 28.83

5684 0.62 170.1 3118 2842 2643 2617 280.8 12.8 414 5686 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2841 2629 2642 2616 0 0 0 0 0 0 28.83 28.83 28.83

5983 0.62 170.1 3119 2842 2643 2616 242.7 12.8 426 5991 0.00 2.35 0.00 0.000 516 0.000 0.072 3125 1446 2628 2642 2615 0 0 0 0 0 0 28.83 14.47 28.83

6050 0.62 171.4 3126 1445 2643 2615 234.8 11.8 439 6061 0.00 2.45 1.05 0.313 9222 0.000 0.098 3125 2841 2621 2637 2606 0 0 0 0 0 0 28.83 14.52 14.31

6355 0.62 171.4 3126 2840 2648 2609 197.6 11.9 470 6364 0.00 2.35 1.30 0.371 8708 0.000 0.070 3125 1456 2621 2639 2603 0 0 0 0 0 0 28.83 14.49 14.19

6412 0.64 205.3 3126 1456 2647 2608 191.5 10.1 481 6454 0.00 2.45 32.12 1.433 9222 0.000 0.097 3125 2846 2473 2482 2465 0 0 0 0 0 0 28.83 14.45 13.66

6758 0.66 227.3 3126 2847 2483 2461 152.9 10.7 518 6787 0.00 2.45 18.45 1.372 8708 0.000 0.073 3122 1462 2384 2391 2378 0 0 0 0 0 0 28.83 14.23 13.69

6816 0.77 266.9 3126 1461 2392 2376 147.3 9.7 527 6859 0.00 2.47 33.78 1.351 9222 0.000 0.097 3125 2841 2224 2227 2222 0 0 0 0 0 0 28.83 14.26 13.54

7153 0.86 299.0 3126 2841 2228 2214 112.3 10.2 563 7189 0.20 2.47 24.52 1.238 10756 0.106 0.073 3209 1453 2090 2091 2089 0 0 0 0 0 0 14.32 14.14 13.65

7233 0.86 299.0 3210 1453 2092 2086 101.4 13.6 577 7241 0.00 2.50 0.00 0.000 1030 0.000 0.097 3209 2838 2088 2091 2085 0 0 0 0 0 0 28.83 14.16 28.83

7546 0.81 299.0 3210 2836 2092 2084 57.0 13.6 609 7549 0.15 0.00 0.00 0.000 4102 0.265 0.000 3177 2839 2087 2091 2083 0 0 0 0 0 0 14.23 28.83 28.83

7846 0.93 379.5 3178 2839 2093 2081 32.3 7.5 639 7889 0.00 2.38 34.35 0.298 8708 0.000 0.072 3186 1456 1767 1760 1775 0 0 0 0 0 0 28.83 14.31 14.21

7948 1.11 453.7 3187 1457 1763 1773 23.8 7.9 657 7991 0.25 2.47 32.70 0.266 11270 0.099 0.099 3281 2847 1465 1457 1473 0 0 0 0 0 0 14.38 14.34 14.17

8254 end climb: NO_VERTICAL_VELOCITY

state 8254 begin surface

ID	196	ESCAPE_HEADING	0	C_ROLL_CLIMB	2840	ALTIM_FREQUENCY	13
MISSION	7	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	30	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	41	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	19	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	681.01007	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.75
D_ABORT	600	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	3317	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	3	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	140	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	180	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	20	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-4711.8086	PITCH_W_GAIN	0	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044209026
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00065043929
T_WATCHDOG	10	PITCH_MIN	208	MINV_10V	11	SEABIRD_T_I	2.5803243e-05
RELAUNCH	1	PITCH_MAX	3896	FG_AHR_10V	0	SEABIRD_T_J	3.1106315e-06
APOGEE_PITCH	-5	C_PITCH	2909	FG_AHR_24V	0	SEABIRD_C_G	-9.7475271
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1204907
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-73.350418	SEABIRD_C_I	-0.00083350006
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001164176	SEABIRD_C_J	0.00013962483
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	38	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54281	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	160	COMPASS_USE	4	TM_RECORDABOVE	2000.0
NAV_MODE	10	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	10	TM_LOGSAMPLE	0.0
HD_A	0.0043000001	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3787	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	4.3e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	400
HEADING	-1	C_ROLL_DIVE	2700	ALTIM_PING_DELTA	20

GPS1	300714,085402,7105.826,-14419.214,17,0.8,37,22.4	SPEED_LIMITS	0.206,0.254
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.45	MHEAD_RNG_PITCHd_Wd	334.7,56247,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-77.8	D_GRID	1000
GPS2	300714,090431,7105.771,-14419.275,6,0.9,26,22.4

FREEZE	12.10,5.316,-1.398,0,1,0	_10V_AH	13.30,0.000
SM_CCo	8258,104.30,0.226,0,0,499,691.26	FG_AHR_24Vo	0.000
SM_GC	1.30,9.60,0.20,0.00,0.103,0.096,0.000,207,2709,494,-8.40,1.70,691.75,0,0,0,0,0,0,14.37,14.44,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	387	MEM	301844
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23428,690
IRIDIUM_FIX	7032.78,-14419.28,300714,062219	CAP_FILE_SIZE	122562,0
TT8_MAMPS	0.043442,0.043442	CFSIZE	2097872896,2085683200
HUMID	47.59	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.61163	INTR	0,9325.27,0x2378b6,7,5
TCM_TEMP	12.50	SOUNDSPEED	1448.6
XPDR_PINGS	1	EKF	8603,4266.889648,-8658.866211,12.098072,0.001499,-0.000631,-0.010590,0.000147,0.001405,0.000099,0.002025,0.002025,0.000050
SC_FREEKB	3924704	CURRENT	0.034,88.05,1
TM_FREEKB	7574304	GPS	300714,112808,7106.896,-14418.378,12,0.8,32,22.4
_24V_AH	13.05,10.937

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	403	130.21	nil	0	0	0.00
Roll_motor	58	133	101.14	nil	0	0	0.00
VBD_pump_during_apogee	440	1769	10179.20	nil	0	0	0.00
VBD_pump_during_surface	104	226	308.21	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	8270	15	1630.72
Iridium_during_xfer	391	184	941.81	TMICL	8326	13	1419.68
Transponder_ping	1	420	9.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.61
TT8	0	0	0.00
LPSleep	6293	2	193.34
TT8_Active	712	9	89.76
TT8_Sampling	2079	28	800.49
TT8_CF8	80	35	38.12
TT8_Kalman	0	0	0.00
Analog_circuits	1723	10	229.25
GPS_charging	0	0	0.00
Compass	1027	0	10.25
RAFOS	0	0	0.00
Transponder	14	30	5.62

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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.70	-145.9	199	2701	486	584	0.0	0.0	0	86	0.00	0.00	-63.17	0.000	16386	0.000	0.000	198	2700	2180	2190	2170	0	0	0	0	0	0	28.83	28.83	28.83
88	-0.70	-145.9	198	2700	2191	2175	3.3	-3.7	6	138	12.18	2.03	-30.55	0.000	19204	0.403	0.133	2667	3793	3915	3975	3856	0	0	0	0	0	0	14.07	14.23	14.45
362	-0.54	-145.9	2668	3792	3979	3862	77.5	-22.0	58	372	0.22	1.85	0.00	0.000	3078	0.261	0.056	2724	2692	3919	3976	3862	0	0	0	0	0	0	14.22	14.37	28.83
668	-0.58	-145.9	2725	2692	3977	3862	123.4	-13.5	89	675	0.00	1.92	0.00	0.000	260	0.000	0.108	2718	3786	3919	3976	3862	0	0	0	0	0	0	28.83	14.38	28.83
824	-0.58	-145.9	2719	3787	3977	3863	146.3	-14.1	120	834	0.00	1.83	0.00	0.000	1030	0.000	0.058	2718	2696	3919	3976	3862	0	0	0	0	0	0	28.83	14.46	28.83
1130	-0.66	-145.9	2719	2696	3977	3863	184.1	-11.5	151	1133	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	2696	3919	3976	3862	0	0	0	0	0	0	28.83	28.83	28.83
1430	-0.76	-145.9	2718	2695	3977	3862	216.1	-10.2	181	1433	0.17	0.00	0.00	0.000	4102	0.116	0.000	2650	2696	3918	3976	3861	0	0	0	0	0	0	14.50	28.83	28.83
1749	-0.76	-145.9	2650	2696	3975	3863	258.8	-13.3	209	1758	0.00	1.92	0.00	0.000	260	0.000	0.109	2641	3789	3918	3974	3862	0	0	0	0	0	0	28.83	14.47	28.83
1832	-0.71	-145.9	2641	3789	3975	3862	271.2	-14.7	225	1840	0.10	1.80	0.00	0.000	3078	0.249	0.060	2667	2709	3917	3973	3862	0	0	0	0	0	0	14.38	14.52	28.83
2144	-0.71	-145.9	2668	2709	3969	3862	309.8	-12.1	237	2147	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2709	3917	3973	3862	0	0	0	0	0	0	28.83	28.83	28.83
2444	-0.71	-145.9	2668	2709	3973	3862	346.3	-12.2	247	2446	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2709	3917	3972	3862	0	0	0	0	0	0	28.83	28.83	28.83
2744	-0.71	-145.9	2668	2709	3972	3862	382.6	-12.1	257	2752	0.00	1.92	0.00	0.000	260	0.000	0.109	2661	3805	3916	3971	3861	0	0	0	0	0	0	28.83	14.52	28.83
2795	-0.71	-145.9	2662	3806	3971	3861	389.5	-13.9	267	2805	0.00	1.85	0.00	0.000	1030	0.000	0.060	2660	2692	3915	3969	3861	0	0	0	0	0	0	28.83	14.57	28.83
3109	-0.71	-145.9	2661	2692	3971	3861	428.7	-12.4	279	3111	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2692	3915	3970	3861	0	0	0	0	0	0	28.83	28.83	28.83
3409	-0.71	-145.9	2660	2692	3971	3861	465.0	-12.1	289	3417	0.00	1.92	0.00	0.000	260	0.000	0.109	2652	3790	3915	3970	3861	0	0	0	0	0	0	28.83	14.54	28.83
3481	-0.71	-145.9	2652	3794	3971	3861	474.6	-13.6	303	3490	0.00	1.83	0.00	0.000	1030	0.000	0.059	2652	2690	3915	3970	3861	0	0	0	0	0	0	28.83	14.58	28.83
3715	end dive: TARGET_DEPTH_EXCEEDED
state	3715	begin apogee
3718	-0.13	0.0	2652	2847	3970	3861	503.7	-12.4	314	3846	0.77	0.00	122.95	1.769	10246	0.241	0.000	2856	2846	3316	3337	3296	0	0	0	0	0	0	14.46	28.83	13.16
3848	end apogee: CONTROL_FINISHED_OK
state	3848	begin climb
3849	0.70	145.9	2858	2847	3333	3292	507.3	0.0	318	3981	0.93	0.00	121.57	1.645	10246	0.141	0.000	3128	2846	2717	2723	2712	0	0	0	0	0	0	13.83	28.83	13.05
4255	0.63	145.9	3128	2846	2724	2704	462.7	13.5	332	4257	0.00	0.00	0.00	0.000	6	0.000	0.000	3127	2846	2713	2724	2703	0	0	0	0	0	0	28.83	28.83	28.83
4555	0.56	145.9	3128	2845	2725	2702	421.9	13.7	342	4563	0.17	2.40	0.00	0.000	4612	0.272	0.073	3099	1455	2713	2724	2702	0	0	0	0	0	0	14.18	14.30	28.83
4612	0.61	167.1	3100	1455	2725	2702	415.6	10.7	353	4640	0.00	2.47	18.02	1.535	9222	0.000	0.098	3099	2841	2632	2642	2622	0	0	0	0	0	0	28.83	14.31	13.57
4954	0.61	167.1	3100	2840	2643	2617	373.6	12.2	370	4962	0.00	2.38	0.00	0.000	516	0.000	0.071	3109	1452	2629	2642	2617	0	0	0	0	0	0	28.83	14.34	28.83
4991	0.61	168.1	3110	1453	2642	2618	369.3	11.9	377	4999	0.00	2.47	0.00	0.000	1030	0.000	0.097	3109	2845	2629	2642	2617	0	0	0	0	0	0	28.83	14.34	28.83
5318	0.61	168.1	3110	2845	2643	2616	327.8	12.8	392	5326	0.00	2.35	0.00	0.000	516	0.000	0.072	3117	1456	2629	2642	2616	0	0	0	0	0	0	28.83	14.42	28.83
5355	0.62	170.1	3118	1456	2643	2616	323.3	11.8	399	5364	0.00	2.45	0.00	0.000	1030	0.000	0.098	3117	2841	2628	2642	2615	0	0	0	0	0	0	28.83	14.42	28.83
5684	0.62	170.1	3118	2842	2643	2617	280.8	12.8	414	5686	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2841	2629	2642	2616	0	0	0	0	0	0	28.83	28.83	28.83
5983	0.62	170.1	3119	2842	2643	2616	242.7	12.8	426	5991	0.00	2.35	0.00	0.000	516	0.000	0.072	3125	1446	2628	2642	2615	0	0	0	0	0	0	28.83	14.47	28.83
6050	0.62	171.4	3126	1445	2643	2615	234.8	11.8	439	6061	0.00	2.45	1.05	0.313	9222	0.000	0.098	3125	2841	2621	2637	2606	0	0	0	0	0	0	28.83	14.52	14.31
6355	0.62	171.4	3126	2840	2648	2609	197.6	11.9	470	6364	0.00	2.35	1.30	0.371	8708	0.000	0.070	3125	1456	2621	2639	2603	0	0	0	0	0	0	28.83	14.49	14.19
6412	0.64	205.3	3126	1456	2647	2608	191.5	10.1	481	6454	0.00	2.45	32.12	1.433	9222	0.000	0.097	3125	2846	2473	2482	2465	0	0	0	0	0	0	28.83	14.45	13.66
6758	0.66	227.3	3126	2847	2483	2461	152.9	10.7	518	6787	0.00	2.45	18.45	1.372	8708	0.000	0.073	3122	1462	2384	2391	2378	0	0	0	0	0	0	28.83	14.23	13.69
6816	0.77	266.9	3126	1461	2392	2376	147.3	9.7	527	6859	0.00	2.47	33.78	1.351	9222	0.000	0.097	3125	2841	2224	2227	2222	0	0	0	0	0	0	28.83	14.26	13.54
7153	0.86	299.0	3126	2841	2228	2214	112.3	10.2	563	7189	0.20	2.47	24.52	1.238	10756	0.106	0.073	3209	1453	2090	2091	2089	0	0	0	0	0	0	14.32	14.14	13.65
7233	0.86	299.0	3210	1453	2092	2086	101.4	13.6	577	7241	0.00	2.50	0.00	0.000	1030	0.000	0.097	3209	2838	2088	2091	2085	0	0	0	0	0	0	28.83	14.16	28.83
7546	0.81	299.0	3210	2836	2092	2084	57.0	13.6	609	7549	0.15	0.00	0.00	0.000	4102	0.265	0.000	3177	2839	2087	2091	2083	0	0	0	0	0	0	14.23	28.83	28.83
7846	0.93	379.5	3178	2839	2093	2081	32.3	7.5	639	7889	0.00	2.38	34.35	0.298	8708	0.000	0.072	3186	1456	1767	1760	1775	0	0	0	0	0	0	28.83	14.31	14.21
7948	1.11	453.7	3187	1457	1763	1773	23.8	7.9	657	7991	0.25	2.47	32.70	0.266	11270	0.099	0.099	3281	2847	1465	1457	1473	0	0	0	0	0	0	14.38	14.34	14.17
8254	end climb: NO_VERTICAL_VELOCITY
state	8254	begin surface