Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 36 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 ESCAPE_HEADING 0 C_ROLL_CLIMB 2800 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 36 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 24 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 17 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 688.85968 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.6

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 3349 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 0.0012300001 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 -21666.412 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 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044001359

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00063958467

T_WATCHDOG 10 PITCH_MIN 200 MINV_10V 11 SEABIRD_T_I 2.6420161e-05

RELAUNCH 1 PITCH_MAX 3900 FG_AHR_10V 0 SEABIRD_T_J 3.2747387e-06

APOGEE_PITCH -5 C_PITCH 2470 FG_AHR_24V 0 SEABIRD_C_G -9.7531748

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1147131

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -64.963387 SEABIRD_C_I -0.0015239087

GLIDE_SLOPE 40 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001159754 SEABIRD_C_J 0.00019379995

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54269 PITCH_TIMEOUT 17 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 0.0031999999 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3771 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 2.1999999e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2200 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 500 PITCH_GAIN 32 SURFACE_URGENCY_FORCE 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3900 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 200 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.0012300001 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 40 PRESSURE_SLOPE 0.0001159754 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -64.963387 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0031999999 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 2.1999999e-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 T_GPS 3

CAPUPLOAD 0 ID 199 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -21666.412

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 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 2470 LOGGERDEVICE4 -1 ROLL_MAX 3771 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2800 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2200 MASS 54269 ROLL_MIN 218 UNCOM_BLEED 60

C_VBD 3349 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 24 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 17 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 -9.7531748 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1147131 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0015239087 VBD_MIN 500

DIVE 36 N_FILEKB 8 SEABIRD_C_J 0.00019379995 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 N_GPS -20 SEABIRD_T_G 0.0044001359 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00063958467 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.6420161e-05 W_ADJ_DBAND 0

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.2747387e-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 688.85968

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 300714,162825,7107.262,-14442.842,14,0.8,34,22.3 SPEED_LIMITS 0.142,0.254

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.90 MHEAD_RNG_PITCHd_Wd 298.3,66225,-21.9,-11.905,-25.13,1887

_SM_ANGLEo -73.7 D_GRID 1000

GPS2 300714,163745,7107.205,-14442.827,4,0.9,24,22.3

Post-dive calculations and measurements:

FREEZE 11.70,2.697,-1.427,0,1,0 _10V_AH 12.71,0.000

SM_CCo 8367,133.43,0.205,0,0,497,698.86 FG_AHR_24Vo 0.000

SM_GC 2.17,7.97,1.08,0.00,0.112,0.089,0.000,204,2189,499,-7.05,0.62,699.10,0,0,0,0,0,0,14.35,14.39,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 360 MEM 297112

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 30014,860

IRIDIUM_FIX 7032.78,-14450.14,300714,135801 CAP_FILE_SIZE 133338,0

TT8_MAMPS 0.047187,0.047187 CFSIZE 2097872896,2085224448

HUMID 50.27 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.4362 INTR 0,9261.41,0x2378b6,7,5

TCM_TEMP 11.60 SOUNDSPEED 1450.2

XPDR_PINGS 0 EKF 8761,4268.169922,-8684.408203,11.701493,0.002454,0.016877,0.004633,0.000117,0.001117,0.000099,0.000025,0.000025,0.000050

SC_FREEKB 4012980 CURRENT 0.020,107.85,1

TM_FREEKB 7536000 GPS 300714,190407,7108.141,-14444.110,28,0.7,48,22.3

_24V_AH 12.97,63.163

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 480 138.02 nil 0 0 0.00

Roll_motor 95 149 184.77 nil 0 0 0.00

VBD_pump_during_apogee 513 1710 11381.82 nil 0 0 0.00

VBD_pump_during_surface 133 205 354.79 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 8387 15 1685.97

Iridium_during_xfer 351 188 860.89 TMICL 8410 12 1383.32

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 6.95

TT8 0 0 0.00

LPSleep 6010 2 176.48

TT8_Active 817 10 113.92

TT8_Sampling 2331 29 879.93

TT8_CF8 86 36 40.17

TT8_Kalman 0 0 0.00

Analog_circuits 1926 10 244.80

GPS_charging 0 0 0.00

Compass 1270 5 80.73

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 -0.87 -145.9 197 2193 570 516 0.0 0.0 0 75 0.00 0.00 -53.72 0.000 16386 0.000 0.000 195 2193 1922 1930 1914 0 0 0 0 0 0 28.83 28.83 28.83

77 -0.87 -145.9 197 2194 1931 1914 3.3 -3.4 5 134 11.10 2.65 -39.28 0.000 18692 0.480 0.149 2174 3612 3947 4002 3892 0 0 0 0 0 0 14.04 14.23 14.47

358 -0.77 -145.9 2174 3613 4003 3896 75.8 -22.8 58 367 0.20 2.45 0.00 0.000 3078 0.333 0.090 2214 2195 3949 4002 3896 0 0 0 0 0 0 14.21 14.35 28.83

663 -0.77 -145.9 2214 2195 4004 3899 128.9 -16.2 89 671 0.00 2.55 0.00 0.000 260 0.000 0.128 2205 3612 3949 4002 3897 0 0 0 0 0 0 28.83 14.38 28.83

725 -0.75 -145.9 2206 3612 3999 3896 139.4 -17.0 101 733 0.00 2.42 0.00 0.000 1030 0.000 0.088 2205 2195 3949 4002 3897 0 0 0 0 0 0 28.83 14.42 28.83

1037 -0.75 -145.9 2204 2198 4003 3897 185.5 -13.0 133 1045 0.00 2.55 0.00 0.000 260 0.000 0.128 2194 3618 3949 4002 3897 0 0 0 0 0 0 28.83 14.42 28.83

1109 -0.75 -145.9 2194 3618 4002 3897 196.2 -14.6 147 1119 0.15 2.42 0.00 0.000 3078 0.301 0.088 2225 2199 3949 4002 3896 0 0 0 0 0 0 14.35 14.45 28.83

1423 -0.78 -145.9 2226 2199 4003 3897 231.7 -10.8 179 1433 0.00 2.53 0.00 0.000 260 0.000 0.129 2215 3612 3949 4002 3896 0 0 0 0 0 0 28.83 14.44 28.83

1582 -0.78 -145.9 2215 3613 4003 3897 250.6 -12.2 210 1591 0.00 2.40 0.00 0.000 1030 0.000 0.088 2215 2201 3948 4001 3896 0 0 0 0 0 0 28.83 14.46 28.83

1887 -0.81 -145.9 2215 2202 4003 3896 284.0 -10.9 221 1895 0.00 2.53 0.00 0.000 260 0.000 0.129 2204 3617 3951 4002 3901 0 0 0 0 0 0 28.83 14.50 28.83

1969 -0.81 -145.9 2205 3618 4003 3896 293.8 -11.9 237 1977 0.00 2.42 0.00 0.000 1030 0.000 0.088 2205 2193 3948 4001 3895 0 0 0 0 0 0 28.83 14.51 28.83

2282 -0.83 -145.9 2204 2194 4003 3895 328.8 -11.0 249 2289 0.00 2.53 0.00 0.000 260 0.000 0.129 2194 3610 3948 4001 3895 0 0 0 0 0 0 28.83 14.50 28.83

2404 -0.83 -145.9 2196 3611 4001 3895 343.6 -12.2 273 2411 0.00 2.40 0.00 0.000 1030 0.000 0.089 2194 2196 3947 4001 3894 0 0 0 0 0 0 28.83 14.54 28.83

2736 -0.83 -145.9 2196 2196 4001 3895 380.9 -11.1 289 2744 0.00 2.53 0.00 0.000 260 0.000 0.129 2184 3617 3948 4002 3894 0 0 0 0 0 0 28.83 14.51 28.83

2828 -0.83 -145.9 2185 3617 4001 3895 392.3 -12.5 307 2837 0.00 2.40 0.00 0.000 1030 0.000 0.089 2184 2199 3947 4001 3894 0 0 0 0 0 0 28.83 14.55 28.83

3162 -0.83 -145.9 2185 2199 4001 3894 432.2 -11.9 323 3171 0.00 2.53 0.00 0.000 260 0.000 0.129 2173 3619 3948 4002 3894 0 0 0 0 0 0 28.83 14.53 28.83

3270 -0.83 -145.9 2173 3620 4003 3895 446.8 -13.7 344 3279 0.12 2.42 0.00 0.000 3078 0.322 0.089 2196 2191 3947 4001 3894 0 0 0 0 0 0 14.40 14.52 28.83

3589 -0.85 -145.9 2197 2192 4001 3895 482.8 -11.1 357 3596 0.00 2.53 0.00 0.000 260 0.000 0.129 2187 3615 3947 4001 3894 0 0 0 0 0 0 28.83 14.53 28.83

3690 -0.85 -145.9 2187 3615 4003 3895 495.4 -12.6 377 3698 0.00 2.40 0.00 0.000 1030 0.000 0.089 2187 2197 3947 4001 3894 0 0 0 0 0 0 28.83 14.53 28.83

3741 end dive: TARGET_DEPTH_EXCEEDED

state 3741 begin apogee

3745 -0.16 0.0 2183 2802 4003 3895 501.7 -12.1 382 3934 0.90 0.00 183.80 1.532 10246 0.295 0.000 2409 2801 3347 3401 3294 0 0 0 0 0 0 14.43 28.83 13.22

3936 end apogee: CONTROL_FINISHED_OK

state 3936 begin climb

3937 0.87 145.9 2411 2801 3395 3288 507.8 0.0 388 4079 1.12 1.83 126.95 1.711 10500 0.161 0.128 2738 3763 2743 2790 2696 0 0 0 0 0 0 13.77 13.54 12.97

4158 0.76 145.9 2738 3764 2780 2685 486.0 17.6 425 4167 0.10 1.75 0.00 0.000 5126 0.308 0.087 2723 2804 2732 2780 2684 0 0 0 0 0 0 13.74 13.88 28.83

4486 0.70 145.9 2724 2804 2780 2682 437.5 14.6 440 4495 0.00 2.50 0.00 0.000 516 0.000 0.098 2732 1387 2730 2780 2681 0 0 0 0 0 0 28.83 14.18 28.83

4524 0.65 145.9 2733 1387 2779 2681 432.3 14.1 447 4534 0.22 2.55 0.00 0.000 5126 0.306 0.109 2684 2796 2730 2780 2680 0 0 0 0 0 0 14.10 14.19 28.83

4853 0.62 145.9 2684 2797 2782 2680 390.4 12.7 462 4860 0.00 2.47 0.00 0.000 516 0.000 0.096 2694 1385 2730 2780 2680 0 0 0 0 0 0 28.83 14.33 28.83

4949 0.62 145.9 2695 1386 2787 2680 378.6 12.1 481 4957 0.00 2.55 0.00 0.000 1030 0.000 0.109 2694 2810 2731 2782 2680 0 0 0 0 0 0 28.83 14.35 28.83

5277 0.59 145.9 2695 2810 2779 2680 335.3 13.2 496 5285 0.12 2.47 0.00 0.000 4612 0.304 0.094 2675 1386 2729 2780 2679 0 0 0 0 0 0 14.33 14.42 28.83

5369 0.61 163.2 2676 1384 2780 2680 324.9 11.0 514 5390 0.00 2.53 13.62 1.451 9222 0.000 0.110 2675 2804 2679 2734 2625 0 0 0 0 0 0 28.83 14.43 13.73

5704 0.61 163.2 2676 2804 2725 2609 283.9 12.2 530 5712 0.00 2.45 0.00 0.000 516 0.000 0.096 2685 1392 2666 2725 2608 0 0 0 0 0 0 28.83 14.42 28.83

5821 0.61 163.9 2686 1392 2725 2609 270.3 11.9 553 5831 0.00 2.50 0.00 0.000 1030 0.000 0.109 2685 2801 2666 2725 2608 0 0 0 0 0 0 28.83 14.43 28.83

6126 0.59 163.9 2685 2802 2726 2609 232.4 12.0 572 6134 0.00 2.45 0.00 0.000 516 0.000 0.096 2695 1387 2666 2725 2608 0 0 0 0 0 0 28.83 14.47 28.83

6223 0.61 181.3 2696 1388 2725 2608 221.4 11.0 591 6247 0.00 2.50 15.93 1.358 9222 0.000 0.108 2695 2804 2603 2663 2544 0 0 0 0 0 0 28.83 14.47 13.78

6541 0.62 190.2 2695 2804 2656 2528 182.2 11.4 624 6550 0.00 2.53 2.20 0.415 8708 0.000 0.095 2705 1391 2572 2636 2508 0 0 0 0 0 0 28.83 14.37 13.69

6634 0.65 213.1 2704 1392 2652 2522 172.0 10.7 642 6668 0.00 2.50 27.58 1.314 9222 0.000 0.108 2705 2799 2474 2539 2409 0 0 0 0 0 0 28.83 14.38 13.69

6972 0.68 237.4 2704 2797 2528 2387 134.2 10.6 678 7002 0.00 2.50 20.45 1.264 8708 0.000 0.094 2715 1384 2367 2436 2299 0 0 0 0 0 0 28.83 14.23 13.71

7121 0.73 278.9 2716 1384 2427 2290 119.6 9.6 706 7164 0.00 2.55 36.58 1.252 9222 0.000 0.109 2715 2805 2206 2281 2132 0 0 0 0 0 0 28.83 14.29 13.59

7459 0.75 295.3 2717 2806 2259 2105 81.8 11.0 742 7475 0.00 2.50 5.18 0.294 8708 0.000 0.097 2725 1392 2149 2229 2069 0 0 0 0 0 0 28.83 14.26 14.13

7639 0.83 340.7 2724 1394 2253 2089 63.7 9.4 777 7674 0.00 2.53 26.25 0.349 9222 0.000 0.109 2725 2806 1959 2047 1872 0 0 0 0 0 0 28.83 14.32 14.16

7969 0.95 412.3 2724 2807 2066 1892 34.1 8.0 812 8016 0.12 2.50 37.83 0.269 10756 0.168 0.099 2780 1387 1668 1759 1577 0 0 0 0 0 0 14.39 14.31 14.22

8065 1.01 442.2 2781 1388 1768 1585 24.4 10.3 829 8089 0.00 2.53 16.67 0.248 9222 0.000 0.109 2780 2798 1543 1639 1448 0 0 0 0 0 0 28.83 14.32 14.23

8363 end climb: NO_VERTICAL_VELOCITY

state 8363 begin surface

ID	199	ESCAPE_HEADING	0	C_ROLL_CLIMB	2800	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	36	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	24	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	17	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	688.85968	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.6
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	3349	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	0.0012300001	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	-21666.412	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	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044001359
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00063958467
T_WATCHDOG	10	PITCH_MIN	200	MINV_10V	11	SEABIRD_T_I	2.6420161e-05
RELAUNCH	1	PITCH_MAX	3900	FG_AHR_10V	0	SEABIRD_T_J	3.2747387e-06
APOGEE_PITCH	-5	C_PITCH	2470	FG_AHR_24V	0	SEABIRD_C_G	-9.7531748
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1147131
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-64.963387	SEABIRD_C_I	-0.0015239087
GLIDE_SLOPE	40	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001159754	SEABIRD_C_J	0.00019379995
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54269	PITCH_TIMEOUT	17	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	0.0031999999	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3771	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	2.1999999e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2200	ALTIM_PING_DELTA	5

GPS1	300714,162825,7107.262,-14442.842,14,0.8,34,22.3	SPEED_LIMITS	0.142,0.254
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.90	MHEAD_RNG_PITCHd_Wd	298.3,66225,-21.9,-11.905,-25.13,1887
_SM_ANGLEo	-73.7	D_GRID	1000
GPS2	300714,163745,7107.205,-14442.827,4,0.9,24,22.3

FREEZE	11.70,2.697,-1.427,0,1,0	_10V_AH	12.71,0.000
SM_CCo	8367,133.43,0.205,0,0,497,698.86	FG_AHR_24Vo	0.000
SM_GC	2.17,7.97,1.08,0.00,0.112,0.089,0.000,204,2189,499,-7.05,0.62,699.10,0,0,0,0,0,0,14.35,14.39,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	360	MEM	297112
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	30014,860
IRIDIUM_FIX	7032.78,-14450.14,300714,135801	CAP_FILE_SIZE	133338,0
TT8_MAMPS	0.047187,0.047187	CFSIZE	2097872896,2085224448
HUMID	50.27	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.4362	INTR	0,9261.41,0x2378b6,7,5
TCM_TEMP	11.60	SOUNDSPEED	1450.2
XPDR_PINGS	0	EKF	8761,4268.169922,-8684.408203,11.701493,0.002454,0.016877,0.004633,0.000117,0.001117,0.000099,0.000025,0.000025,0.000050
SC_FREEKB	4012980	CURRENT	0.020,107.85,1
TM_FREEKB	7536000	GPS	300714,190407,7108.141,-14444.110,28,0.7,48,22.3
_24V_AH	12.97,63.163

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	480	138.02	nil	0	0	0.00
Roll_motor	95	149	184.77	nil	0	0	0.00
VBD_pump_during_apogee	513	1710	11381.82	nil	0	0	0.00
VBD_pump_during_surface	133	205	354.79	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	8387	15	1685.97
Iridium_during_xfer	351	188	860.89	TMICL	8410	12	1383.32
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	6.95
TT8	0	0	0.00
LPSleep	6010	2	176.48
TT8_Active	817	10	113.92
TT8_Sampling	2331	29	879.93
TT8_CF8	86	36	40.17
TT8_Kalman	0	0	0.00
Analog_circuits	1926	10	244.80
GPS_charging	0	0	0.00
Compass	1270	5	80.73
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	-0.87	-145.9	197	2193	570	516	0.0	0.0	0	75	0.00	0.00	-53.72	0.000	16386	0.000	0.000	195	2193	1922	1930	1914	0	0	0	0	0	0	28.83	28.83	28.83
77	-0.87	-145.9	197	2194	1931	1914	3.3	-3.4	5	134	11.10	2.65	-39.28	0.000	18692	0.480	0.149	2174	3612	3947	4002	3892	0	0	0	0	0	0	14.04	14.23	14.47
358	-0.77	-145.9	2174	3613	4003	3896	75.8	-22.8	58	367	0.20	2.45	0.00	0.000	3078	0.333	0.090	2214	2195	3949	4002	3896	0	0	0	0	0	0	14.21	14.35	28.83
663	-0.77	-145.9	2214	2195	4004	3899	128.9	-16.2	89	671	0.00	2.55	0.00	0.000	260	0.000	0.128	2205	3612	3949	4002	3897	0	0	0	0	0	0	28.83	14.38	28.83
725	-0.75	-145.9	2206	3612	3999	3896	139.4	-17.0	101	733	0.00	2.42	0.00	0.000	1030	0.000	0.088	2205	2195	3949	4002	3897	0	0	0	0	0	0	28.83	14.42	28.83
1037	-0.75	-145.9	2204	2198	4003	3897	185.5	-13.0	133	1045	0.00	2.55	0.00	0.000	260	0.000	0.128	2194	3618	3949	4002	3897	0	0	0	0	0	0	28.83	14.42	28.83
1109	-0.75	-145.9	2194	3618	4002	3897	196.2	-14.6	147	1119	0.15	2.42	0.00	0.000	3078	0.301	0.088	2225	2199	3949	4002	3896	0	0	0	0	0	0	14.35	14.45	28.83
1423	-0.78	-145.9	2226	2199	4003	3897	231.7	-10.8	179	1433	0.00	2.53	0.00	0.000	260	0.000	0.129	2215	3612	3949	4002	3896	0	0	0	0	0	0	28.83	14.44	28.83
1582	-0.78	-145.9	2215	3613	4003	3897	250.6	-12.2	210	1591	0.00	2.40	0.00	0.000	1030	0.000	0.088	2215	2201	3948	4001	3896	0	0	0	0	0	0	28.83	14.46	28.83
1887	-0.81	-145.9	2215	2202	4003	3896	284.0	-10.9	221	1895	0.00	2.53	0.00	0.000	260	0.000	0.129	2204	3617	3951	4002	3901	0	0	0	0	0	0	28.83	14.50	28.83
1969	-0.81	-145.9	2205	3618	4003	3896	293.8	-11.9	237	1977	0.00	2.42	0.00	0.000	1030	0.000	0.088	2205	2193	3948	4001	3895	0	0	0	0	0	0	28.83	14.51	28.83
2282	-0.83	-145.9	2204	2194	4003	3895	328.8	-11.0	249	2289	0.00	2.53	0.00	0.000	260	0.000	0.129	2194	3610	3948	4001	3895	0	0	0	0	0	0	28.83	14.50	28.83
2404	-0.83	-145.9	2196	3611	4001	3895	343.6	-12.2	273	2411	0.00	2.40	0.00	0.000	1030	0.000	0.089	2194	2196	3947	4001	3894	0	0	0	0	0	0	28.83	14.54	28.83
2736	-0.83	-145.9	2196	2196	4001	3895	380.9	-11.1	289	2744	0.00	2.53	0.00	0.000	260	0.000	0.129	2184	3617	3948	4002	3894	0	0	0	0	0	0	28.83	14.51	28.83
2828	-0.83	-145.9	2185	3617	4001	3895	392.3	-12.5	307	2837	0.00	2.40	0.00	0.000	1030	0.000	0.089	2184	2199	3947	4001	3894	0	0	0	0	0	0	28.83	14.55	28.83
3162	-0.83	-145.9	2185	2199	4001	3894	432.2	-11.9	323	3171	0.00	2.53	0.00	0.000	260	0.000	0.129	2173	3619	3948	4002	3894	0	0	0	0	0	0	28.83	14.53	28.83
3270	-0.83	-145.9	2173	3620	4003	3895	446.8	-13.7	344	3279	0.12	2.42	0.00	0.000	3078	0.322	0.089	2196	2191	3947	4001	3894	0	0	0	0	0	0	14.40	14.52	28.83
3589	-0.85	-145.9	2197	2192	4001	3895	482.8	-11.1	357	3596	0.00	2.53	0.00	0.000	260	0.000	0.129	2187	3615	3947	4001	3894	0	0	0	0	0	0	28.83	14.53	28.83
3690	-0.85	-145.9	2187	3615	4003	3895	495.4	-12.6	377	3698	0.00	2.40	0.00	0.000	1030	0.000	0.089	2187	2197	3947	4001	3894	0	0	0	0	0	0	28.83	14.53	28.83
3741	end dive: TARGET_DEPTH_EXCEEDED
state	3741	begin apogee
3745	-0.16	0.0	2183	2802	4003	3895	501.7	-12.1	382	3934	0.90	0.00	183.80	1.532	10246	0.295	0.000	2409	2801	3347	3401	3294	0	0	0	0	0	0	14.43	28.83	13.22
3936	end apogee: CONTROL_FINISHED_OK
state	3936	begin climb
3937	0.87	145.9	2411	2801	3395	3288	507.8	0.0	388	4079	1.12	1.83	126.95	1.711	10500	0.161	0.128	2738	3763	2743	2790	2696	0	0	0	0	0	0	13.77	13.54	12.97
4158	0.76	145.9	2738	3764	2780	2685	486.0	17.6	425	4167	0.10	1.75	0.00	0.000	5126	0.308	0.087	2723	2804	2732	2780	2684	0	0	0	0	0	0	13.74	13.88	28.83
4486	0.70	145.9	2724	2804	2780	2682	437.5	14.6	440	4495	0.00	2.50	0.00	0.000	516	0.000	0.098	2732	1387	2730	2780	2681	0	0	0	0	0	0	28.83	14.18	28.83
4524	0.65	145.9	2733	1387	2779	2681	432.3	14.1	447	4534	0.22	2.55	0.00	0.000	5126	0.306	0.109	2684	2796	2730	2780	2680	0	0	0	0	0	0	14.10	14.19	28.83
4853	0.62	145.9	2684	2797	2782	2680	390.4	12.7	462	4860	0.00	2.47	0.00	0.000	516	0.000	0.096	2694	1385	2730	2780	2680	0	0	0	0	0	0	28.83	14.33	28.83
4949	0.62	145.9	2695	1386	2787	2680	378.6	12.1	481	4957	0.00	2.55	0.00	0.000	1030	0.000	0.109	2694	2810	2731	2782	2680	0	0	0	0	0	0	28.83	14.35	28.83
5277	0.59	145.9	2695	2810	2779	2680	335.3	13.2	496	5285	0.12	2.47	0.00	0.000	4612	0.304	0.094	2675	1386	2729	2780	2679	0	0	0	0	0	0	14.33	14.42	28.83
5369	0.61	163.2	2676	1384	2780	2680	324.9	11.0	514	5390	0.00	2.53	13.62	1.451	9222	0.000	0.110	2675	2804	2679	2734	2625	0	0	0	0	0	0	28.83	14.43	13.73
5704	0.61	163.2	2676	2804	2725	2609	283.9	12.2	530	5712	0.00	2.45	0.00	0.000	516	0.000	0.096	2685	1392	2666	2725	2608	0	0	0	0	0	0	28.83	14.42	28.83
5821	0.61	163.9	2686	1392	2725	2609	270.3	11.9	553	5831	0.00	2.50	0.00	0.000	1030	0.000	0.109	2685	2801	2666	2725	2608	0	0	0	0	0	0	28.83	14.43	28.83
6126	0.59	163.9	2685	2802	2726	2609	232.4	12.0	572	6134	0.00	2.45	0.00	0.000	516	0.000	0.096	2695	1387	2666	2725	2608	0	0	0	0	0	0	28.83	14.47	28.83
6223	0.61	181.3	2696	1388	2725	2608	221.4	11.0	591	6247	0.00	2.50	15.93	1.358	9222	0.000	0.108	2695	2804	2603	2663	2544	0	0	0	0	0	0	28.83	14.47	13.78
6541	0.62	190.2	2695	2804	2656	2528	182.2	11.4	624	6550	0.00	2.53	2.20	0.415	8708	0.000	0.095	2705	1391	2572	2636	2508	0	0	0	0	0	0	28.83	14.37	13.69
6634	0.65	213.1	2704	1392	2652	2522	172.0	10.7	642	6668	0.00	2.50	27.58	1.314	9222	0.000	0.108	2705	2799	2474	2539	2409	0	0	0	0	0	0	28.83	14.38	13.69
6972	0.68	237.4	2704	2797	2528	2387	134.2	10.6	678	7002	0.00	2.50	20.45	1.264	8708	0.000	0.094	2715	1384	2367	2436	2299	0	0	0	0	0	0	28.83	14.23	13.71
7121	0.73	278.9	2716	1384	2427	2290	119.6	9.6	706	7164	0.00	2.55	36.58	1.252	9222	0.000	0.109	2715	2805	2206	2281	2132	0	0	0	0	0	0	28.83	14.29	13.59
7459	0.75	295.3	2717	2806	2259	2105	81.8	11.0	742	7475	0.00	2.50	5.18	0.294	8708	0.000	0.097	2725	1392	2149	2229	2069	0	0	0	0	0	0	28.83	14.26	14.13
7639	0.83	340.7	2724	1394	2253	2089	63.7	9.4	777	7674	0.00	2.53	26.25	0.349	9222	0.000	0.109	2725	2806	1959	2047	1872	0	0	0	0	0	0	28.83	14.32	14.16
7969	0.95	412.3	2724	2807	2066	1892	34.1	8.0	812	8016	0.12	2.50	37.83	0.269	10756	0.168	0.099	2780	1387	1668	1759	1577	0	0	0	0	0	0	14.39	14.31	14.22
8065	1.01	442.2	2781	1388	1768	1585	24.4	10.3	829	8089	0.00	2.53	16.67	0.248	9222	0.000	0.109	2780	2798	1543	1639	1448	0	0	0	0	0	0	28.83	14.32	14.23
8363	end climb: NO_VERTICAL_VELOCITY
state	8363	begin surface