Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 33 * 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 33 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 31 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 -3364.0239 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 -3364.0239

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 31 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 33 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 300714,161218,7107.667,-14426.058,37,0.8,57,22.4 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 1.87 MHEAD_RNG_PITCHd_Wd 345.1,53341,-21.9,-11.905,-26.85,1887

_SM_ANGLEo -74.8 D_GRID 1000

GPS2 300714,162236,7107.634,-14425.814,5,0.9,25,22.4

Post-dive calculations and measurements:

FINISH 1.0,1.018108 _10V_AH 12.69,0.000

SM_CCo 8943,4.18,0.197,0,0,537,649.06 FG_AHR_24Vo 0.000

SM_GC 3.58,8.40,2.15,4.18,0.096,0.118,0.197,206,2810,537,-7.43,-0.34,649.06,0,0,0,0,0,0,14.43,14.39,14.35 FG_AHR_10Vo 0.000

RAFOS_CLK 561 MEM 298048

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23387,703

IRIDIUM_FIX 7032.78,-14424.66,300714,133413 CAP_FILE_SIZE 120708,0

TT8_MAMPS 0.045689,0.045689 CFSIZE 2097872896,2085748736

HUMID 49.37 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.53472 INTR 0,9704.49,0x2378b6,7,5

TCM_TEMP 12.90 SOUNDSPEED 1447.4

XPDR_PINGS 0 EKF 9047,4268.662598,-8665.116211,0.957756,-0.120111,0.066477,-0.058031,0.000171,0.001634,0.000095,0.000525,0.000525,0.000034

SC_FREEKB 4005600 CURRENT 0.024,32.62,1

TM_FREEKB 7542336 GPS 300714,185338,7108.755,-14424.902,41,0.8,61,22.4

_24V_AH 12.83,11.558

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 464 133.90 nil 0 0 0.00

Roll_motor 43 143 79.33 nil 0 0 0.00

VBD_pump_during_apogee 584 2483 18632.93 nil 0 0 0.00

VBD_pump_during_surface 4 197 10.57 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 8946 15 1756.09

Iridium_during_xfer 377 205 996.82 TMICL 9000 13 1536.21

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 6731 2 197.32

TT8_Active 677 8 75.10

TT8_Sampling 2082 28 745.32

TT8_CF8 75 35 34.24

TT8_Kalman 0 0 0.00

Analog_circuits 1699 10 215.72

GPS_charging 0 0 0.00

Compass 1048 0 9.98

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

18 -0.71 -145.9 206 2789 473 531 0.0 0.0 0 84 0.00 0.00 -62.60 0.000 16386 0.000 0.000 205 2791 2106 2149 2063 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.71 -145.9 205 2790 2151 2065 4.0 -4.2 6 135 11.40 2.40 -30.58 0.000 19204 0.464 0.105 2363 1393 3785 3881 3690 0 0 0 0 0 0 14.09 14.28 14.48

224 -0.64 -145.9 2364 1392 3879 3697 34.9 -19.0 31 233 0.12 2.55 0.00 0.000 3078 0.379 0.113 2382 2809 3787 3877 3697 0 0 0 0 0 0 14.21 14.31 28.83

530 -0.62 -145.9 2383 2809 3879 3699 89.5 -15.0 62 532 0.00 0.00 0.00 0.000 6 0.000 0.000 2382 2807 3788 3878 3699 0 0 0 0 0 0 28.83 28.83 28.83

829 -0.62 -145.9 2383 2813 3879 3699 134.4 -14.2 92 831 0.00 0.00 0.00 0.000 6 0.000 0.000 2382 2809 3788 3877 3699 0 0 0 0 0 0 28.83 28.83 28.83

1129 -0.62 -145.9 2383 2810 3878 3700 173.4 -11.7 122 1137 0.00 2.40 0.00 0.000 516 0.000 0.083 2382 1392 3787 3876 3699 0 0 0 0 0 0 28.83 14.53 28.83

1192 -0.65 -145.9 2383 1392 3877 3699 180.4 -10.7 134 1200 0.00 2.50 0.00 0.000 1030 0.000 0.115 2374 2799 3787 3876 3699 0 0 0 0 0 0 28.83 14.50 28.83

1505 -0.67 -145.9 2375 2800 3875 3700 215.0 -10.8 166 1507 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2799 3786 3874 3699 0 0 0 0 0 0 28.83 28.83 28.83

1804 -0.70 -145.9 2375 2799 3874 3699 246.0 -10.1 196 1807 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2799 3785 3872 3699 0 0 0 0 0 0 28.83 28.83 28.83

2125 -0.73 -145.9 2375 2800 3872 3700 278.1 -9.9 210 2127 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2799 3785 3871 3699 0 0 0 0 0 0 28.83 28.83 28.83

2424 -0.76 -145.9 2374 2799 3866 3699 307.0 -9.6 220 2431 0.00 1.75 0.00 0.000 260 0.000 0.132 2374 3790 3783 3870 3696 0 0 0 0 0 0 28.83 14.59 28.83

2471 -0.78 -145.9 2374 3790 3871 3699 311.7 -10.1 229 2481 0.00 1.70 0.00 0.000 1030 0.000 0.082 2374 2793 3784 3870 3699 0 0 0 0 0 0 28.83 14.62 28.83

2791 -0.81 -145.9 2375 2794 3870 3700 341.6 -9.4 242 2794 0.12 0.00 0.00 0.000 4102 0.155 0.000 2324 2794 3784 3870 3699 0 0 0 0 0 0 14.65 28.83 28.83

3090 -0.81 -145.9 2325 2794 3870 3700 376.7 -11.8 252 3093 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2793 3784 3869 3699 0 0 0 0 0 0 28.83 28.83 28.83

3390 -0.81 -145.9 2325 2794 3869 3700 411.4 -11.4 262 3393 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2793 3784 3869 3699 0 0 0 0 0 0 28.83 28.83 28.83

3690 -0.81 -145.9 2325 2800 3870 3699 445.9 -11.5 272 3692 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2793 3784 3869 3699 0 0 0 0 0 0 28.83 28.83 28.83

3990 -0.81 -145.9 2325 2793 3870 3700 480.2 -11.4 282 3993 0.00 0.00 0.00 0.000 6 0.000 0.000 2325 2793 3787 3869 3705 0 0 0 0 0 0 28.83 28.83 28.83

4169 end dive: TARGET_DEPTH_EXCEEDED

state 4169 begin apogee

4172 -0.14 0.0 2323 3052 3870 3699 500.9 -11.5 288 4324 0.88 0.00 138.55 2.483 10246 0.294 0.000 2548 3052 3192 3277 3108 0 0 0 0 1 0 14.55 28.83 12.83

4326 end apogee: CONTROL_FINISHED_OK

state 4326 begin climb

4328 0.71 145.9 2546 3053 3284 3109 505.0 0.0 293 4473 0.95 0.00 128.60 1.527 10502 0.190 0.000 2816 3049 2580 2646 2514 0 0 0 0 0 0 13.74 28.83 13.12

4787 0.69 145.9 2818 3053 2640 2509 453.4 13.3 327 4789 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 3052 2573 2639 2507 0 0 0 0 0 0 28.83 28.83 28.83

5087 0.67 145.9 2817 3052 2641 2507 413.7 13.2 337 5090 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 3052 2573 2639 2507 0 0 0 0 0 0 28.83 28.83 28.83

5387 0.64 145.9 2817 3052 2641 2507 374.0 13.4 347 5389 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 3052 2573 2639 2507 0 0 0 0 0 0 28.83 28.83 28.83

5687 0.62 145.9 2818 3053 2640 2507 333.9 13.3 357 5696 0.00 2.40 0.00 0.000 516 0.000 0.082 2826 1639 2576 2647 2506 0 0 0 0 0 0 28.83 14.50 28.83

5740 0.62 145.9 2827 1643 2640 2514 327.2 12.2 367 5748 0.00 2.50 0.00 0.000 1030 0.000 0.112 2826 3050 2573 2640 2506 0 0 0 0 0 0 28.83 14.49 28.83

6052 0.59 145.9 2827 3051 2640 2507 284.7 13.6 379 6055 0.15 0.00 0.00 0.000 4102 0.287 0.000 2792 3050 2572 2639 2506 0 0 0 0 0 0 14.47 28.83 28.83

6352 0.60 150.6 2792 3053 2640 2506 249.0 11.6 389 6354 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 3050 2572 2639 2506 0 0 0 0 0 0 28.83 28.83 28.83

6652 0.60 164.3 2793 3051 2641 2506 214.6 11.2 419 6675 0.00 2.45 15.05 1.255 8708 0.000 0.080 2802 1647 2505 2572 2439 0 0 0 0 0 0 28.83 14.48 13.99

6743 0.65 193.4 2803 1647 2573 2436 204.9 10.3 436 6780 0.00 2.50 25.88 1.267 9222 0.000 0.113 2802 3054 2386 2454 2318 0 0 0 0 0 0 28.83 14.44 13.89

7074 0.67 222.3 2803 3055 2445 2311 167.6 10.3 471 7106 0.00 2.42 25.02 1.177 8708 0.000 0.079 2811 1641 2269 2335 2204 0 0 0 0 0 0 28.83 14.32 13.86

7155 0.73 255.3 2813 1642 2327 2202 159.4 10.1 485 7193 0.00 2.53 29.55 1.134 9222 0.000 0.113 2811 3050 2136 2201 2072 0 0 0 0 0 0 28.83 14.31 13.76

7487 0.78 290.1 2813 3050 2187 2056 123.9 10.0 520 7530 0.12 2.47 30.12 1.082 10756 0.151 0.083 2868 1647 1988 2049 1928 0 0 0 0 0 0 14.40 14.23 13.83

7594 0.78 290.1 2876 1647 2043 1924 110.7 12.7 539 7604 0.00 2.53 0.00 0.000 1030 0.000 0.113 2870 3053 1982 2041 1923 0 0 0 0 0 0 28.83 14.24 28.83

7900 0.78 290.1 2871 3053 2041 1915 70.5 12.8 570 7902 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 3053 1978 2040 1917 0 0 0 0 0 0 28.83 28.83 28.83

8199 0.83 365.6 2870 3053 2039 1917 40.8 7.8 600 8244 0.00 2.47 38.33 0.286 8708 0.000 0.083 2877 1641 1696 1754 1638 0 0 0 0 0 0 28.83 14.42 14.31

8348 0.93 429.2 2885 1642 1777 1639 27.6 8.4 627 8398 0.00 2.53 37.33 0.243 9222 0.000 0.116 2874 3058 1437 1492 1383 0 0 0 0 0 0 28.83 14.42 14.31

8692 1.19 643.1 2878 3059 1505 1384 10.4 0.3 664 8817 0.32 2.50 116.43 0.194 10756 0.112 0.082 2998 1640 562 521 604 0 0 0 0 0 0 14.49 14.37 14.31

8900 end climb: SURFACE_DEPTH_REACHED

state 8900 begin surface coast

8921 end surface coast: CONTROL_FINISHED_OK

state 8921 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	33	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	31	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	-3364.0239	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	300714,161218,7107.667,-14426.058,37,0.8,57,22.4	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	1.87	MHEAD_RNG_PITCHd_Wd	345.1,53341,-21.9,-11.905,-26.85,1887
_SM_ANGLEo	-74.8	D_GRID	1000
GPS2	300714,162236,7107.634,-14425.814,5,0.9,25,22.4

FINISH	1.0,1.018108	_10V_AH	12.69,0.000
SM_CCo	8943,4.18,0.197,0,0,537,649.06	FG_AHR_24Vo	0.000
SM_GC	3.58,8.40,2.15,4.18,0.096,0.118,0.197,206,2810,537,-7.43,-0.34,649.06,0,0,0,0,0,0,14.43,14.39,14.35	FG_AHR_10Vo	0.000
RAFOS_CLK	561	MEM	298048
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23387,703
IRIDIUM_FIX	7032.78,-14424.66,300714,133413	CAP_FILE_SIZE	120708,0
TT8_MAMPS	0.045689,0.045689	CFSIZE	2097872896,2085748736
HUMID	49.37	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.53472	INTR	0,9704.49,0x2378b6,7,5
TCM_TEMP	12.90	SOUNDSPEED	1447.4
XPDR_PINGS	0	EKF	9047,4268.662598,-8665.116211,0.957756,-0.120111,0.066477,-0.058031,0.000171,0.001634,0.000095,0.000525,0.000525,0.000034
SC_FREEKB	4005600	CURRENT	0.024,32.62,1
TM_FREEKB	7542336	GPS	300714,185338,7108.755,-14424.902,41,0.8,61,22.4
_24V_AH	12.83,11.558

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	464	133.90	nil	0	0	0.00
Roll_motor	43	143	79.33	nil	0	0	0.00
VBD_pump_during_apogee	584	2483	18632.93	nil	0	0	0.00
VBD_pump_during_surface	4	197	10.57	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	8946	15	1756.09
Iridium_during_xfer	377	205	996.82	TMICL	9000	13	1536.21
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	6731	2	197.32
TT8_Active	677	8	75.10
TT8_Sampling	2082	28	745.32
TT8_CF8	75	35	34.24
TT8_Kalman	0	0	0.00
Analog_circuits	1699	10	215.72
GPS_charging	0	0	0.00
Compass	1048	0	9.98
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
18	-0.71	-145.9	206	2789	473	531	0.0	0.0	0	84	0.00	0.00	-62.60	0.000	16386	0.000	0.000	205	2791	2106	2149	2063	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.71	-145.9	205	2790	2151	2065	4.0	-4.2	6	135	11.40	2.40	-30.58	0.000	19204	0.464	0.105	2363	1393	3785	3881	3690	0	0	0	0	0	0	14.09	14.28	14.48
224	-0.64	-145.9	2364	1392	3879	3697	34.9	-19.0	31	233	0.12	2.55	0.00	0.000	3078	0.379	0.113	2382	2809	3787	3877	3697	0	0	0	0	0	0	14.21	14.31	28.83
530	-0.62	-145.9	2383	2809	3879	3699	89.5	-15.0	62	532	0.00	0.00	0.00	0.000	6	0.000	0.000	2382	2807	3788	3878	3699	0	0	0	0	0	0	28.83	28.83	28.83
829	-0.62	-145.9	2383	2813	3879	3699	134.4	-14.2	92	831	0.00	0.00	0.00	0.000	6	0.000	0.000	2382	2809	3788	3877	3699	0	0	0	0	0	0	28.83	28.83	28.83
1129	-0.62	-145.9	2383	2810	3878	3700	173.4	-11.7	122	1137	0.00	2.40	0.00	0.000	516	0.000	0.083	2382	1392	3787	3876	3699	0	0	0	0	0	0	28.83	14.53	28.83
1192	-0.65	-145.9	2383	1392	3877	3699	180.4	-10.7	134	1200	0.00	2.50	0.00	0.000	1030	0.000	0.115	2374	2799	3787	3876	3699	0	0	0	0	0	0	28.83	14.50	28.83
1505	-0.67	-145.9	2375	2800	3875	3700	215.0	-10.8	166	1507	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2799	3786	3874	3699	0	0	0	0	0	0	28.83	28.83	28.83
1804	-0.70	-145.9	2375	2799	3874	3699	246.0	-10.1	196	1807	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2799	3785	3872	3699	0	0	0	0	0	0	28.83	28.83	28.83
2125	-0.73	-145.9	2375	2800	3872	3700	278.1	-9.9	210	2127	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2799	3785	3871	3699	0	0	0	0	0	0	28.83	28.83	28.83
2424	-0.76	-145.9	2374	2799	3866	3699	307.0	-9.6	220	2431	0.00	1.75	0.00	0.000	260	0.000	0.132	2374	3790	3783	3870	3696	0	0	0	0	0	0	28.83	14.59	28.83
2471	-0.78	-145.9	2374	3790	3871	3699	311.7	-10.1	229	2481	0.00	1.70	0.00	0.000	1030	0.000	0.082	2374	2793	3784	3870	3699	0	0	0	0	0	0	28.83	14.62	28.83
2791	-0.81	-145.9	2375	2794	3870	3700	341.6	-9.4	242	2794	0.12	0.00	0.00	0.000	4102	0.155	0.000	2324	2794	3784	3870	3699	0	0	0	0	0	0	14.65	28.83	28.83
3090	-0.81	-145.9	2325	2794	3870	3700	376.7	-11.8	252	3093	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	2793	3784	3869	3699	0	0	0	0	0	0	28.83	28.83	28.83
3390	-0.81	-145.9	2325	2794	3869	3700	411.4	-11.4	262	3393	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	2793	3784	3869	3699	0	0	0	0	0	0	28.83	28.83	28.83
3690	-0.81	-145.9	2325	2800	3870	3699	445.9	-11.5	272	3692	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	2793	3784	3869	3699	0	0	0	0	0	0	28.83	28.83	28.83
3990	-0.81	-145.9	2325	2793	3870	3700	480.2	-11.4	282	3993	0.00	0.00	0.00	0.000	6	0.000	0.000	2325	2793	3787	3869	3705	0	0	0	0	0	0	28.83	28.83	28.83
4169	end dive: TARGET_DEPTH_EXCEEDED
state	4169	begin apogee
4172	-0.14	0.0	2323	3052	3870	3699	500.9	-11.5	288	4324	0.88	0.00	138.55	2.483	10246	0.294	0.000	2548	3052	3192	3277	3108	0	0	0	0	1	0	14.55	28.83	12.83
4326	end apogee: CONTROL_FINISHED_OK
state	4326	begin climb
4328	0.71	145.9	2546	3053	3284	3109	505.0	0.0	293	4473	0.95	0.00	128.60	1.527	10502	0.190	0.000	2816	3049	2580	2646	2514	0	0	0	0	0	0	13.74	28.83	13.12
4787	0.69	145.9	2818	3053	2640	2509	453.4	13.3	327	4789	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	3052	2573	2639	2507	0	0	0	0	0	0	28.83	28.83	28.83
5087	0.67	145.9	2817	3052	2641	2507	413.7	13.2	337	5090	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	3052	2573	2639	2507	0	0	0	0	0	0	28.83	28.83	28.83
5387	0.64	145.9	2817	3052	2641	2507	374.0	13.4	347	5389	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	3052	2573	2639	2507	0	0	0	0	0	0	28.83	28.83	28.83
5687	0.62	145.9	2818	3053	2640	2507	333.9	13.3	357	5696	0.00	2.40	0.00	0.000	516	0.000	0.082	2826	1639	2576	2647	2506	0	0	0	0	0	0	28.83	14.50	28.83
5740	0.62	145.9	2827	1643	2640	2514	327.2	12.2	367	5748	0.00	2.50	0.00	0.000	1030	0.000	0.112	2826	3050	2573	2640	2506	0	0	0	0	0	0	28.83	14.49	28.83
6052	0.59	145.9	2827	3051	2640	2507	284.7	13.6	379	6055	0.15	0.00	0.00	0.000	4102	0.287	0.000	2792	3050	2572	2639	2506	0	0	0	0	0	0	14.47	28.83	28.83
6352	0.60	150.6	2792	3053	2640	2506	249.0	11.6	389	6354	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	3050	2572	2639	2506	0	0	0	0	0	0	28.83	28.83	28.83
6652	0.60	164.3	2793	3051	2641	2506	214.6	11.2	419	6675	0.00	2.45	15.05	1.255	8708	0.000	0.080	2802	1647	2505	2572	2439	0	0	0	0	0	0	28.83	14.48	13.99
6743	0.65	193.4	2803	1647	2573	2436	204.9	10.3	436	6780	0.00	2.50	25.88	1.267	9222	0.000	0.113	2802	3054	2386	2454	2318	0	0	0	0	0	0	28.83	14.44	13.89
7074	0.67	222.3	2803	3055	2445	2311	167.6	10.3	471	7106	0.00	2.42	25.02	1.177	8708	0.000	0.079	2811	1641	2269	2335	2204	0	0	0	0	0	0	28.83	14.32	13.86
7155	0.73	255.3	2813	1642	2327	2202	159.4	10.1	485	7193	0.00	2.53	29.55	1.134	9222	0.000	0.113	2811	3050	2136	2201	2072	0	0	0	0	0	0	28.83	14.31	13.76
7487	0.78	290.1	2813	3050	2187	2056	123.9	10.0	520	7530	0.12	2.47	30.12	1.082	10756	0.151	0.083	2868	1647	1988	2049	1928	0	0	0	0	0	0	14.40	14.23	13.83
7594	0.78	290.1	2876	1647	2043	1924	110.7	12.7	539	7604	0.00	2.53	0.00	0.000	1030	0.000	0.113	2870	3053	1982	2041	1923	0	0	0	0	0	0	28.83	14.24	28.83
7900	0.78	290.1	2871	3053	2041	1915	70.5	12.8	570	7902	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	3053	1978	2040	1917	0	0	0	0	0	0	28.83	28.83	28.83
8199	0.83	365.6	2870	3053	2039	1917	40.8	7.8	600	8244	0.00	2.47	38.33	0.286	8708	0.000	0.083	2877	1641	1696	1754	1638	0	0	0	0	0	0	28.83	14.42	14.31
8348	0.93	429.2	2885	1642	1777	1639	27.6	8.4	627	8398	0.00	2.53	37.33	0.243	9222	0.000	0.116	2874	3058	1437	1492	1383	0	0	0	0	0	0	28.83	14.42	14.31
8692	1.19	643.1	2878	3059	1505	1384	10.4	0.3	664	8817	0.32	2.50	116.43	0.194	10756	0.112	0.082	2998	1640	562	521	604	0	0	0	0	0	0	14.49	14.37	14.31
8900	end climb: SURFACE_DEPTH_REACHED
state	8900	begin surface coast
8921	end surface coast: CONTROL_FINISHED_OK
state	8921	begin surface