Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 31 * 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 31 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 46 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 18 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 -4713.0659 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 -4713.0659

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 46 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 18 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 31 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 300714,112808,7106.896,-14418.378,12,0.8,32,22.4 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 1.47 MHEAD_RNG_PITCHd_Wd 335.1,54069,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -76.9 D_GRID 1000

GPS2 300714,113833,7106.925,-14418.373,5,0.8,26,22.4

Post-dive calculations and measurements:

FREEZE 12.91,4.317,-1.430,0,1,0 _10V_AH 13.29,0.000

SM_CCo 8177,113.22,0.231,0,0,497,691.01 FG_AHR_24Vo 0.000

SM_GC 1.86,9.27,2.28,0.00,0.091,0.097,0.000,206,2706,493,-8.40,-0.51,692.73,0,0,0,0,0,0,14.39,14.36,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 345 MEM 301444

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23417,706

IRIDIUM_FIX 7032.78,-14415.41,300714,085748 CAP_FILE_SIZE 124348,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2085421056

HUMID 45.78 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.58233 INTR 0,9241.41,0x2378b6,7,5

TCM_TEMP 13.20 SOUNDSPEED 1448.9

XPDR_PINGS 1 EKF 8559,4268.019531,-8657.950195,12.917158,0.006784,0.035870,-0.000884,0.000143,0.001368,0.000095,0.000525,0.000525,0.000034

SC_FREEKB 3924256 CURRENT 0.035,85.20,1

TM_FREEKB 7561452 GPS 300714,140126,7108.035,-14417.423,14,0.8,34,22.4

_24V_AH 13.03,11.242

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 400 125.38 nil 0 0 0.00

Roll_motor 67 125 110.63 nil 0 0 0.00

VBD_pump_during_apogee 416 1767 9578.80 nil 0 0 0.00

VBD_pump_during_surface 113 231 340.84 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 8190 15 1616.96

Iridium_during_xfer 392 180 923.80 TMICL 8241 13 1403.57

Transponder_ping 1 420 9.58 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.68

TT8 0 0 0.00

LPSleep 6199 2 190.32

TT8_Active 711 9 89.49

TT8_Sampling 2124 28 817.46

TT8_CF8 80 35 38.22

TT8_Kalman 0 0 0.00

Analog_circuits 1737 10 230.92

GPS_charging 0 0 0.00

Compass 1052 0 10.49

RAFOS 1492 48 951.78

Transponder 13 30 5.47

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 2709 457 527 0.0 0.0 0 86 0.00 0.00 -63.20 0.000 16386 0.000 0.000 197 2709 2198 2201 2195 0 0 0 0 0 0 28.83 28.83 28.83

88 -0.70 -145.9 198 2709 2204 2196 4.1 -5.6 6 138 12.10 1.98 -29.15 0.000 18692 0.400 0.125 2667 3792 3916 3974 3858 0 0 0 0 0 0 14.09 14.22 14.45

362 -0.55 -145.9 2668 3792 3975 3863 77.5 -22.7 58 372 0.22 1.83 0.00 0.000 3078 0.266 0.056 2723 2700 3918 3974 3863 0 0 0 0 0 0 14.22 14.36 28.83

668 -0.59 -145.9 2724 2701 3974 3864 123.6 -13.5 89 675 0.00 1.92 0.00 0.000 260 0.000 0.108 2717 3793 3918 3974 3863 0 0 0 0 0 0 28.83 14.39 28.83

844 -0.59 -145.9 2718 3794 3975 3863 149.0 -13.6 124 855 0.00 1.83 0.00 0.000 1030 0.000 0.059 2717 2698 3918 3973 3863 0 0 0 0 0 0 28.83 14.47 28.83

1150 -0.66 -145.9 2718 2698 3975 3864 186.3 -11.2 155 1152 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2698 3918 3974 3863 0 0 0 0 0 0 28.83 28.83 28.83

1454 -0.76 -145.9 2718 2697 3975 3863 218.7 -10.2 185 1457 0.17 0.00 0.00 0.000 4102 0.118 0.000 2650 2698 3922 3975 3869 0 0 0 0 0 0 14.44 28.83 28.83

1773 -0.76 -145.9 2646 2698 3973 3864 262.2 -13.4 211 1775 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2698 3918 3973 3863 0 0 0 0 0 0 28.83 28.83 28.83

2073 -0.76 -145.9 2651 2698 3968 3862 302.2 -13.5 221 2081 0.00 1.95 0.00 0.000 260 0.000 0.109 2641 3795 3916 3971 3862 0 0 0 0 0 0 28.83 14.39 28.83

2130 -0.71 -145.9 2642 3796 3971 3863 310.8 -15.3 232 2141 0.08 1.83 0.00 0.000 3078 0.262 0.060 2673 2709 3916 3970 3863 0 0 0 0 0 0 14.26 14.40 28.83

2436 -0.75 -145.9 2674 2709 3971 3863 347.2 -11.7 243 2443 0.00 1.90 0.00 0.000 260 0.000 0.109 2667 3787 3915 3968 3862 0 0 0 0 0 0 28.83 14.38 28.83

2487 -0.75 -145.9 2668 3787 3970 3863 353.9 -13.1 253 2495 0.00 1.83 0.00 0.000 1030 0.000 0.060 2667 2701 3915 3969 3862 0 0 0 0 0 0 28.83 14.44 28.83

2799 -0.75 -145.9 2668 2701 3970 3863 391.7 -12.0 265 2802 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2700 3915 3969 3862 0 0 0 0 0 0 28.83 28.83 28.83

3099 -0.75 -145.9 2676 2701 3969 3863 427.0 -11.7 275 3107 0.00 1.90 0.00 0.000 260 0.000 0.109 2658 3786 3915 3968 3862 0 0 0 0 0 0 28.83 14.47 28.83

3146 -0.75 -145.9 2659 3787 3968 3863 433.3 -13.9 284 3156 0.00 1.77 0.00 0.000 1030 0.000 0.060 2658 2695 3912 3962 3862 0 0 0 0 0 0 28.83 14.53 28.83

3465 -0.75 -145.9 2659 2694 3968 3863 472.3 -12.2 297 3468 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2694 3914 3967 3862 0 0 0 0 0 0 28.83 28.83 28.83

3706 end dive: TARGET_DEPTH_EXCEEDED

state 3706 begin apogee

3709 -0.13 0.0 2658 2850 3969 3862 501.5 -12.1 305 3837 0.77 0.00 122.80 1.767 10246 0.241 0.000 2861 2850 3315 3334 3296 0 0 0 0 0 0 14.43 28.83 13.16

3839 end apogee: CONTROL_FINISHED_OK

state 3839 begin climb

3840 0.70 145.9 2861 2850 3328 3293 505.1 0.0 309 3972 0.93 0.00 121.68 1.655 10246 0.142 0.000 3131 2850 2720 2726 2714 0 0 0 0 0 0 13.82 28.83 13.03

4246 0.62 145.9 3132 2850 2724 2703 460.5 13.5 323 4253 0.00 2.45 0.00 0.000 516 0.000 0.073 3142 1443 2713 2723 2703 0 0 0 0 0 0 28.83 14.14 28.83

4302 0.62 145.9 3143 1445 2725 2710 453.1 12.4 334 4312 0.15 2.50 0.00 0.000 5126 0.269 0.096 3113 2830 2713 2724 2703 0 0 0 0 0 0 14.07 14.17 28.83

4608 0.57 145.9 3112 2830 2725 2703 415.2 12.3 345 4616 0.00 2.38 0.00 0.000 516 0.000 0.071 3121 1446 2713 2723 2703 0 0 0 0 0 0 28.83 14.31 28.83

4630 0.57 145.9 3122 1447 2725 2703 412.6 12.0 349 4638 0.00 2.50 0.00 0.000 1030 0.000 0.097 3121 2848 2713 2723 2703 0 0 0 0 0 0 28.83 14.34 28.83

4943 0.51 145.9 3121 2849 2725 2702 372.2 13.0 361 4951 0.15 2.40 0.00 0.000 4612 0.272 0.069 3094 1443 2713 2724 2702 0 0 0 0 0 0 14.29 14.39 28.83

4991 0.59 179.5 3095 1444 2725 2703 367.1 10.1 370 5029 0.00 2.47 27.95 1.576 9222 0.000 0.098 3091 2843 2584 2589 2580 0 0 0 0 0 0 28.83 14.40 13.55

5343 0.59 179.5 3095 2843 2591 2568 324.0 12.4 389 5351 0.00 2.38 0.00 0.000 516 0.000 0.070 3103 1449 2578 2590 2567 0 0 0 0 0 0 28.83 14.34 28.83

5380 0.65 194.3 3104 1450 2589 2568 319.7 11.1 396 5401 0.00 2.47 13.25 1.484 9222 0.000 0.097 3103 2842 2518 2526 2510 0 0 0 0 0 0 28.83 14.35 13.67

5710 0.65 194.3 3104 2843 2527 2508 277.2 12.9 411 5718 0.00 2.38 0.00 0.000 516 0.000 0.073 3112 1445 2516 2527 2506 0 0 0 0 0 0 28.83 14.38 28.83

5747 0.65 194.3 3113 1445 2529 2505 272.6 11.9 418 5755 0.00 2.47 0.00 0.000 1030 0.000 0.097 3112 2839 2517 2528 2506 0 0 0 0 0 0 28.83 14.38 28.83

6054 0.65 194.3 3113 2840 2529 2507 232.8 12.7 441 6061 0.00 2.38 0.00 0.000 516 0.000 0.072 3120 1447 2516 2527 2506 0 0 0 0 0 0 28.83 14.38 28.83

6110 0.69 194.3 3121 1447 2529 2505 225.8 12.2 452 6121 0.00 2.45 0.00 0.000 1030 0.000 0.097 3120 2839 2516 2528 2505 0 0 0 0 0 0 28.83 14.42 28.83

6415 0.69 194.3 3121 2840 2529 2506 187.0 12.0 483 6424 0.00 2.38 0.00 0.000 516 0.000 0.073 3125 1445 2516 2528 2505 0 0 0 0 0 0 28.83 14.45 28.83

6494 0.75 222.7 3126 1445 2528 2506 178.8 10.4 498 6530 0.00 2.47 24.02 1.384 9222 0.000 0.098 3125 2847 2403 2411 2396 0 0 0 0 0 0 28.83 14.40 13.70

6824 0.78 256.8 3126 2848 2411 2394 142.9 10.0 533 6860 0.10 2.50 29.02 1.329 10756 0.161 0.071 3178 1450 2264 2267 2261 0 0 0 0 0 0 14.39 14.15 13.68

6914 0.78 260.5 3178 1451 2264 2259 132.2 11.7 549 6922 0.00 2.50 0.00 0.000 1030 0.000 0.097 3178 2840 2258 2264 2253 0 0 0 0 0 0 28.83 14.19 28.83

7226 0.78 260.5 3178 2841 2265 2255 93.3 12.0 581 7228 0.00 0.00 0.00 0.000 6 0.000 0.000 3178 2840 2260 2265 2255 0 0 0 0 0 0 28.83 28.83 28.83

7526 0.81 302.4 3178 2841 2267 2254 60.7 9.6 611 7554 0.00 2.40 18.83 0.374 8708 0.000 0.074 3177 1445 2085 2085 2085 0 0 0 0 0 0 28.83 14.35 14.21

7614 0.94 368.6 3178 1449 2091 2085 52.2 8.3 627 7657 0.10 2.47 29.83 0.340 11270 0.157 0.099 3217 2840 1813 1802 1824 0 0 0 0 0 0 14.35 14.36 14.14

7951 1.03 434.3 3217 2841 1806 1818 14.8 8.3 663 7986 0.00 2.45 28.62 0.242 8708 0.000 0.072 3221 1449 1544 1538 1551 0 0 0 0 0 0 28.83 14.35 14.26

8174 end climb: NO_VERTICAL_VELOCITY

state 8174 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	31	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	46	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	18	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	-4713.0659	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	300714,112808,7106.896,-14418.378,12,0.8,32,22.4	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	1.47	MHEAD_RNG_PITCHd_Wd	335.1,54069,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-76.9	D_GRID	1000
GPS2	300714,113833,7106.925,-14418.373,5,0.8,26,22.4

FREEZE	12.91,4.317,-1.430,0,1,0	_10V_AH	13.29,0.000
SM_CCo	8177,113.22,0.231,0,0,497,691.01	FG_AHR_24Vo	0.000
SM_GC	1.86,9.27,2.28,0.00,0.091,0.097,0.000,206,2706,493,-8.40,-0.51,692.73,0,0,0,0,0,0,14.39,14.36,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	345	MEM	301444
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23417,706
IRIDIUM_FIX	7032.78,-14415.41,300714,085748	CAP_FILE_SIZE	124348,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2085421056
HUMID	45.78	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.58233	INTR	0,9241.41,0x2378b6,7,5
TCM_TEMP	13.20	SOUNDSPEED	1448.9
XPDR_PINGS	1	EKF	8559,4268.019531,-8657.950195,12.917158,0.006784,0.035870,-0.000884,0.000143,0.001368,0.000095,0.000525,0.000525,0.000034
SC_FREEKB	3924256	CURRENT	0.035,85.20,1
TM_FREEKB	7561452	GPS	300714,140126,7108.035,-14417.423,14,0.8,34,22.4
_24V_AH	13.03,11.242

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	400	125.38	nil	0	0	0.00
Roll_motor	67	125	110.63	nil	0	0	0.00
VBD_pump_during_apogee	416	1767	9578.80	nil	0	0	0.00
VBD_pump_during_surface	113	231	340.84	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	8190	15	1616.96
Iridium_during_xfer	392	180	923.80	TMICL	8241	13	1403.57
Transponder_ping	1	420	9.58	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.68
TT8	0	0	0.00
LPSleep	6199	2	190.32
TT8_Active	711	9	89.49
TT8_Sampling	2124	28	817.46
TT8_CF8	80	35	38.22
TT8_Kalman	0	0	0.00
Analog_circuits	1737	10	230.92
GPS_charging	0	0	0.00
Compass	1052	0	10.49
RAFOS	1492	48	951.78
Transponder	13	30	5.47

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	2709	457	527	0.0	0.0	0	86	0.00	0.00	-63.20	0.000	16386	0.000	0.000	197	2709	2198	2201	2195	0	0	0	0	0	0	28.83	28.83	28.83
88	-0.70	-145.9	198	2709	2204	2196	4.1	-5.6	6	138	12.10	1.98	-29.15	0.000	18692	0.400	0.125	2667	3792	3916	3974	3858	0	0	0	0	0	0	14.09	14.22	14.45
362	-0.55	-145.9	2668	3792	3975	3863	77.5	-22.7	58	372	0.22	1.83	0.00	0.000	3078	0.266	0.056	2723	2700	3918	3974	3863	0	0	0	0	0	0	14.22	14.36	28.83
668	-0.59	-145.9	2724	2701	3974	3864	123.6	-13.5	89	675	0.00	1.92	0.00	0.000	260	0.000	0.108	2717	3793	3918	3974	3863	0	0	0	0	0	0	28.83	14.39	28.83
844	-0.59	-145.9	2718	3794	3975	3863	149.0	-13.6	124	855	0.00	1.83	0.00	0.000	1030	0.000	0.059	2717	2698	3918	3973	3863	0	0	0	0	0	0	28.83	14.47	28.83
1150	-0.66	-145.9	2718	2698	3975	3864	186.3	-11.2	155	1152	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2698	3918	3974	3863	0	0	0	0	0	0	28.83	28.83	28.83
1454	-0.76	-145.9	2718	2697	3975	3863	218.7	-10.2	185	1457	0.17	0.00	0.00	0.000	4102	0.118	0.000	2650	2698	3922	3975	3869	0	0	0	0	0	0	14.44	28.83	28.83
1773	-0.76	-145.9	2646	2698	3973	3864	262.2	-13.4	211	1775	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2698	3918	3973	3863	0	0	0	0	0	0	28.83	28.83	28.83
2073	-0.76	-145.9	2651	2698	3968	3862	302.2	-13.5	221	2081	0.00	1.95	0.00	0.000	260	0.000	0.109	2641	3795	3916	3971	3862	0	0	0	0	0	0	28.83	14.39	28.83
2130	-0.71	-145.9	2642	3796	3971	3863	310.8	-15.3	232	2141	0.08	1.83	0.00	0.000	3078	0.262	0.060	2673	2709	3916	3970	3863	0	0	0	0	0	0	14.26	14.40	28.83
2436	-0.75	-145.9	2674	2709	3971	3863	347.2	-11.7	243	2443	0.00	1.90	0.00	0.000	260	0.000	0.109	2667	3787	3915	3968	3862	0	0	0	0	0	0	28.83	14.38	28.83
2487	-0.75	-145.9	2668	3787	3970	3863	353.9	-13.1	253	2495	0.00	1.83	0.00	0.000	1030	0.000	0.060	2667	2701	3915	3969	3862	0	0	0	0	0	0	28.83	14.44	28.83
2799	-0.75	-145.9	2668	2701	3970	3863	391.7	-12.0	265	2802	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2700	3915	3969	3862	0	0	0	0	0	0	28.83	28.83	28.83
3099	-0.75	-145.9	2676	2701	3969	3863	427.0	-11.7	275	3107	0.00	1.90	0.00	0.000	260	0.000	0.109	2658	3786	3915	3968	3862	0	0	0	0	0	0	28.83	14.47	28.83
3146	-0.75	-145.9	2659	3787	3968	3863	433.3	-13.9	284	3156	0.00	1.77	0.00	0.000	1030	0.000	0.060	2658	2695	3912	3962	3862	0	0	0	0	0	0	28.83	14.53	28.83
3465	-0.75	-145.9	2659	2694	3968	3863	472.3	-12.2	297	3468	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2694	3914	3967	3862	0	0	0	0	0	0	28.83	28.83	28.83
3706	end dive: TARGET_DEPTH_EXCEEDED
state	3706	begin apogee
3709	-0.13	0.0	2658	2850	3969	3862	501.5	-12.1	305	3837	0.77	0.00	122.80	1.767	10246	0.241	0.000	2861	2850	3315	3334	3296	0	0	0	0	0	0	14.43	28.83	13.16
3839	end apogee: CONTROL_FINISHED_OK
state	3839	begin climb
3840	0.70	145.9	2861	2850	3328	3293	505.1	0.0	309	3972	0.93	0.00	121.68	1.655	10246	0.142	0.000	3131	2850	2720	2726	2714	0	0	0	0	0	0	13.82	28.83	13.03
4246	0.62	145.9	3132	2850	2724	2703	460.5	13.5	323	4253	0.00	2.45	0.00	0.000	516	0.000	0.073	3142	1443	2713	2723	2703	0	0	0	0	0	0	28.83	14.14	28.83
4302	0.62	145.9	3143	1445	2725	2710	453.1	12.4	334	4312	0.15	2.50	0.00	0.000	5126	0.269	0.096	3113	2830	2713	2724	2703	0	0	0	0	0	0	14.07	14.17	28.83
4608	0.57	145.9	3112	2830	2725	2703	415.2	12.3	345	4616	0.00	2.38	0.00	0.000	516	0.000	0.071	3121	1446	2713	2723	2703	0	0	0	0	0	0	28.83	14.31	28.83
4630	0.57	145.9	3122	1447	2725	2703	412.6	12.0	349	4638	0.00	2.50	0.00	0.000	1030	0.000	0.097	3121	2848	2713	2723	2703	0	0	0	0	0	0	28.83	14.34	28.83
4943	0.51	145.9	3121	2849	2725	2702	372.2	13.0	361	4951	0.15	2.40	0.00	0.000	4612	0.272	0.069	3094	1443	2713	2724	2702	0	0	0	0	0	0	14.29	14.39	28.83
4991	0.59	179.5	3095	1444	2725	2703	367.1	10.1	370	5029	0.00	2.47	27.95	1.576	9222	0.000	0.098	3091	2843	2584	2589	2580	0	0	0	0	0	0	28.83	14.40	13.55
5343	0.59	179.5	3095	2843	2591	2568	324.0	12.4	389	5351	0.00	2.38	0.00	0.000	516	0.000	0.070	3103	1449	2578	2590	2567	0	0	0	0	0	0	28.83	14.34	28.83
5380	0.65	194.3	3104	1450	2589	2568	319.7	11.1	396	5401	0.00	2.47	13.25	1.484	9222	0.000	0.097	3103	2842	2518	2526	2510	0	0	0	0	0	0	28.83	14.35	13.67
5710	0.65	194.3	3104	2843	2527	2508	277.2	12.9	411	5718	0.00	2.38	0.00	0.000	516	0.000	0.073	3112	1445	2516	2527	2506	0	0	0	0	0	0	28.83	14.38	28.83
5747	0.65	194.3	3113	1445	2529	2505	272.6	11.9	418	5755	0.00	2.47	0.00	0.000	1030	0.000	0.097	3112	2839	2517	2528	2506	0	0	0	0	0	0	28.83	14.38	28.83
6054	0.65	194.3	3113	2840	2529	2507	232.8	12.7	441	6061	0.00	2.38	0.00	0.000	516	0.000	0.072	3120	1447	2516	2527	2506	0	0	0	0	0	0	28.83	14.38	28.83
6110	0.69	194.3	3121	1447	2529	2505	225.8	12.2	452	6121	0.00	2.45	0.00	0.000	1030	0.000	0.097	3120	2839	2516	2528	2505	0	0	0	0	0	0	28.83	14.42	28.83
6415	0.69	194.3	3121	2840	2529	2506	187.0	12.0	483	6424	0.00	2.38	0.00	0.000	516	0.000	0.073	3125	1445	2516	2528	2505	0	0	0	0	0	0	28.83	14.45	28.83
6494	0.75	222.7	3126	1445	2528	2506	178.8	10.4	498	6530	0.00	2.47	24.02	1.384	9222	0.000	0.098	3125	2847	2403	2411	2396	0	0	0	0	0	0	28.83	14.40	13.70
6824	0.78	256.8	3126	2848	2411	2394	142.9	10.0	533	6860	0.10	2.50	29.02	1.329	10756	0.161	0.071	3178	1450	2264	2267	2261	0	0	0	0	0	0	14.39	14.15	13.68
6914	0.78	260.5	3178	1451	2264	2259	132.2	11.7	549	6922	0.00	2.50	0.00	0.000	1030	0.000	0.097	3178	2840	2258	2264	2253	0	0	0	0	0	0	28.83	14.19	28.83
7226	0.78	260.5	3178	2841	2265	2255	93.3	12.0	581	7228	0.00	0.00	0.00	0.000	6	0.000	0.000	3178	2840	2260	2265	2255	0	0	0	0	0	0	28.83	28.83	28.83
7526	0.81	302.4	3178	2841	2267	2254	60.7	9.6	611	7554	0.00	2.40	18.83	0.374	8708	0.000	0.074	3177	1445	2085	2085	2085	0	0	0	0	0	0	28.83	14.35	14.21
7614	0.94	368.6	3178	1449	2091	2085	52.2	8.3	627	7657	0.10	2.47	29.83	0.340	11270	0.157	0.099	3217	2840	1813	1802	1824	0	0	0	0	0	0	14.35	14.36	14.14
7951	1.03	434.3	3217	2841	1806	1818	14.8	8.3	663	7986	0.00	2.45	28.62	0.242	8708	0.000	0.072	3221	1449	1544	1538	1551	0	0	0	0	0	0	28.83	14.35	14.26
8174	end climb: NO_VERTICAL_VELOCITY
state	8174	begin surface