Glider dive log

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 0 C_ROLL_CLIMB 2740 ALTIM_FREQUENCY 13

MISSION 7 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 48 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 750 SM_CC 681.01007 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.75

D_ABORT 1010 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_GAIN 1.5 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0.050000001 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 3258 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 1

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 215 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 250 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 -4734.4995 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 0.0044209026

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 2895 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 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 2760 ALTIM_PING_DELTA 20

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 750 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 215

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 196 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -4734.4995

COMM_SEQ 0 INT_PRESSURE_YINT 0.75 ROLL_ADJ_DBAND 0.050000001 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 1.5 T_MISSION 250

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 2895 LOGGERDEVICE4 -1 ROLL_MAX 3787 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2740 LOGGERS 1 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2760 MASS 54281 ROLL_MIN 218 UNCOM_BLEED 20

C_VBD 3258 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 48 N_FILEKB 8 SEABIRD_C_J 0.00013962483 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1010 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 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 010814,223554,7132.570,-14407.443,33,0.8,53,22.6 SPEED_LIMITS 0.201,0.252

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.51 MHEAD_RNG_PITCHd_Wd 324.9,6458,-22.3,-11.628,-24.76,1933

_SM_ANGLEo -78.2 D_GRID 1000

GPS2 010814,224145,7132.604,-14407.483,6,0.9,26,22.6

Post-dive calculations and measurements:

FREEZE 11.61,4.010,-1.237,0,1,0 _10V_AH 12.72,0.000

SM_CCo 12345,-0.15,0.000,0,0,501,676.54 FG_AHR_24Vo 0.000

SM_GC 2.06,8.90,0.00,-0.15,0.067,0.000,0.000,202,2735,501,-8.36,-0.71,676.54,0,0,0,0,0,0,14.45,28.83,14.52 FG_AHR_10Vo 0.000

RAFOS_CLK 379 MEM 293424

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26725,803

IRIDIUM_FIX 7058.96,-14414.33,010814,190636 CAP_FILE_SIZE 131832,0

TT8_MAMPS 0.04494,0.04494 CFSIZE 2097872896,2081751040

HUMID 45.74 ERRORS 0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.57257 INTR 2,12330.32,0x2378b6,7,5

TCM_TEMP 12.30 SOUNDSPEED 1449.9

XPDR_PINGS 5 EKF 12506,4294.095215,-8647.663086,11.612705,0.030932,0.013931,0.005486,0.000292,0.002913,0.000099,0.003025,0.003025,0.000050

SC_FREEKB 3916640 CURRENT 0.011,215.22,1

_24V_AH 12.88,16.335 GPS 020814,021026,7134.041,-14407.792,111,0.7,131,22.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 402 118.56 nil 0 0 0.00

Roll_motor 37 130 63.86 nil 0 0 0.00

VBD_pump_during_apogee 460 1961 11643.36 nil 0 0 0.00

VBD_pump_during_surface 85 729 799.00 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 12056 11 1807.94

Iridium_during_xfer 210 158 429.19 TMICL 0 0 0.00

Transponder_ping 5 420 31.11 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.29

TT8 0 0 0.00

LPSleep 9938 2 292.03

TT8_Active 689 9 83.05

TT8_Sampling 1980 28 729.43

TT8_CF8 86 35 39.19

TT8_Kalman 0 0 0.00

Analog_circuits 1517 10 192.98

GPS_charging 0 0 0.00

Compass 1194 0 11.39

RAFOS 1430 48 873.10

Transponder 38 30 14.75

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.69 -145.9 153 2748 466 535 0.0 0.0 0 70 0.00 0.00 -54.47 0.000 16386 0.000 0.000 152 2748 1998 2009 1988 0 0 0 0 0 0 28.83 28.83 28.83

72 -0.69 -145.9 152 2747 2010 1988 4.2 -6.5 5 126 12.15 1.90 -32.58 0.000 19204 0.402 0.131 2660 3792 3857 3918 3796 0 0 0 0 0 0 14.15 14.31 14.56

350 -0.69 -145.9 2661 3792 3919 3802 75.8 -23.0 58 359 0.00 1.73 0.00 0.000 1030 0.000 0.060 2661 2758 3859 3917 3802 0 0 0 0 0 0 28.83 14.42 28.83

655 -0.69 -145.9 2657 2760 3914 3803 134.9 -18.2 89 662 0.00 1.85 0.00 0.000 260 0.000 0.106 2653 3786 3860 3918 3802 0 0 0 0 0 0 28.83 14.42 28.83

886 -0.69 -145.9 2653 3786 3918 3802 178.2 -17.6 135 895 0.00 1.73 0.00 0.000 1030 0.000 0.062 2653 2756 3860 3918 3802 0 0 0 0 0 0 28.83 14.52 28.83

1199 -0.69 -145.9 2653 2756 3919 3802 226.0 -14.4 167 1207 0.00 1.85 0.00 0.000 260 0.000 0.108 2645 3786 3860 3918 3802 0 0 0 0 0 0 28.83 14.48 28.83

1431 -0.69 -145.9 2645 3787 3918 3803 262.0 -15.3 213 1438 0.00 1.73 0.00 0.000 1030 0.000 0.063 2645 2757 3859 3917 3802 0 0 0 0 0 0 28.83 14.55 28.83

1742 -0.69 -145.9 2645 2757 3918 3802 304.6 -13.4 225 1749 0.00 1.85 0.00 0.000 260 0.000 0.109 2636 3790 3859 3916 3802 0 0 0 0 0 0 28.83 14.53 28.83

1838 -0.69 -145.9 2637 3791 3917 3802 318.8 -15.0 244 1845 0.10 1.70 0.00 0.000 3078 0.259 0.063 2663 2770 3858 3915 3802 0 0 0 0 0 0 14.45 14.59 28.83

2164 -0.69 -145.9 2663 2770 3917 3802 358.7 -12.0 259 2165 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2770 3859 3916 3802 0 0 0 0 0 0 28.83 28.83 28.83

2464 -0.69 -145.9 2664 2771 3916 3803 394.5 -11.9 269 2465 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2770 3858 3915 3802 0 0 0 0 0 0 28.83 28.83 28.83

2764 -0.69 -145.9 2663 2770 3916 3802 430.4 -11.9 279 2765 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2770 3858 3915 3802 0 0 0 0 0 0 28.83 28.83 28.83

3065 -0.69 -145.9 2664 2771 3915 3803 466.2 -12.0 289 3065 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2770 3858 3914 3802 0 0 0 0 0 0 28.83 28.83 28.83

3366 -0.69 -145.9 2664 2771 3915 3803 501.7 -11.8 299 3373 0.00 2.35 0.00 0.000 516 0.000 0.074 2663 1356 3858 3915 3801 0 0 0 0 0 0 28.83 14.65 28.83

3412 -0.69 -145.9 2664 1357 3911 3802 507.3 -10.9 308 3419 0.00 2.50 0.00 0.000 1030 0.000 0.102 2654 2761 3857 3914 3801 0 0 0 0 0 0 28.83 14.62 28.83

3728 -0.69 -145.9 2655 2762 3915 3802 545.8 -12.2 321 3729 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2761 3857 3914 3801 0 0 0 0 0 0 28.83 28.83 28.83

4030 -0.69 -145.9 2655 2762 3915 3802 582.2 -12.1 331 4030 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2761 3857 3914 3801 0 0 0 0 0 0 28.83 28.83 28.83

4328 -0.69 -145.9 2655 2762 3915 3802 618.7 -12.2 341 4329 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2761 3857 3914 3801 0 0 0 0 0 0 28.83 28.83 28.83

4628 -0.69 -145.9 2655 2761 3915 3800 654.5 -11.9 351 4629 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2761 3857 3914 3801 0 0 0 0 0 0 28.83 28.83 28.83

4928 -0.69 -145.9 2655 2761 3915 3801 689.8 -11.7 361 4929 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2761 3857 3914 3801 0 0 0 0 0 0 28.83 28.83 28.83

5228 -0.69 -145.9 2655 2762 3915 3802 725.2 -11.8 371 5229 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2761 3858 3916 3800 0 0 0 0 0 0 28.83 28.83 28.83

5467 end dive: TARGET_DEPTH_EXCEEDED

state 5467 begin apogee

5470 -0.13 0.0 2655 2762 3915 3801 753.1 -11.6 379 5598 0.73 0.00 125.55 1.961 10246 0.233 0.000 2848 2761 3256 3277 3236 0 0 0 0 0 0 14.48 28.83 13.09

5599 end apogee: CONTROL_FINISHED_OK

state 5599 begin climb

5601 0.69 145.9 2848 2761 3273 3234 756.3 0.0 383 5730 0.88 0.00 126.40 1.922 10758 0.143 0.000 3106 2761 2661 2671 2651 0 0 0 0 0 0 13.74 28.83 12.88

6008 0.69 145.9 3107 2762 2669 2641 711.0 13.1 402 6009 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2760 2654 2668 2640 0 0 0 0 0 0 28.83 28.83 28.83

6308 0.69 145.9 3107 2761 2670 2639 671.4 13.3 412 6315 0.00 2.47 0.00 0.000 516 0.000 0.075 3117 1337 2654 2668 2640 0 0 0 0 0 0 28.83 14.25 28.83

6344 0.69 145.9 3118 1338 2669 2640 666.9 12.4 419 6352 0.00 2.55 0.00 0.000 1030 0.000 0.096 3117 2735 2653 2668 2639 0 0 0 0 0 0 28.83 14.24 28.83

6672 0.69 145.9 3118 2736 2670 2639 621.7 13.9 434 6673 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2736 2653 2668 2639 0 0 0 0 0 0 28.83 28.83 28.83

6971 0.69 145.9 3118 2736 2669 2640 580.5 13.6 444 6972 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2736 2653 2668 2638 0 0 0 0 0 0 28.83 28.83 28.83

7271 0.69 145.9 3118 2736 2669 2639 539.5 13.5 454 7272 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2736 2653 2668 2639 0 0 0 0 0 0 28.83 28.83 28.83

7572 0.69 145.9 3117 2736 2670 2639 498.9 13.4 464 7572 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2736 2653 2668 2639 0 0 0 0 0 0 28.83 28.83 28.83

7871 0.69 145.9 3118 2736 2670 2638 459.3 13.2 474 7872 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2736 2653 2668 2638 0 0 0 0 0 0 28.83 28.83 28.83

8171 0.69 145.9 3118 2737 2669 2639 420.0 13.0 484 8172 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2736 2653 2668 2638 0 0 0 0 0 0 28.83 28.83 28.83

8471 0.69 145.9 3116 2736 2670 2638 381.4 12.8 494 8472 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2736 2653 2669 2638 0 0 0 0 0 0 28.83 28.83 28.83

8772 0.69 145.9 3118 2736 2670 2638 343.1 12.6 504 8772 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2735 2653 2668 2638 0 0 0 0 0 0 28.83 28.83 28.83

9071 0.69 145.9 3118 2736 2670 2638 305.5 12.5 514 9072 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2736 2653 2669 2638 0 0 0 0 0 0 28.83 28.83 28.83

9371 0.69 145.9 3122 2737 2669 2639 268.7 12.2 524 9372 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2736 2653 2668 2638 0 0 0 0 0 0 28.83 28.83 28.83

9671 0.69 145.9 3118 2736 2670 2638 233.5 11.6 542 9672 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2735 2653 2668 2638 0 0 0 0 0 0 28.83 28.83 28.83

9972 0.70 160.8 3118 2737 2669 2639 200.1 10.8 572 9991 0.00 1.90 12.73 1.331 8452 0.000 0.108 3117 3790 2596 2608 2584 0 0 0 0 0 0 28.83 14.50 14.00

10025 0.70 160.8 3118 3792 2607 2585 193.4 13.4 582 10032 0.00 1.75 0.00 0.000 1030 0.000 0.059 3125 2741 2594 2607 2582 0 0 0 0 0 0 28.83 14.54 28.83

10336 0.74 219.6 3125 2742 2607 2584 161.9 8.5 614 10389 0.00 0.00 48.33 1.298 8198 0.000 0.000 3125 2741 2359 2363 2355 0 0 0 0 0 0 28.83 28.83 13.77

10687 0.77 260.1 3126 2741 2363 2346 127.7 9.5 649 10727 0.00 2.50 34.10 1.250 8708 0.000 0.076 3129 1346 2190 2194 2186 0 0 0 0 0 0 28.83 14.19 13.71

10767 0.80 301.0 3130 1346 2190 2185 119.9 9.5 663 10809 0.00 2.53 32.83 1.266 9222 0.000 0.099 3129 2747 2022 2024 2021 0 0 0 0 0 0 28.83 14.21 13.57

11103 0.82 329.8 3130 2747 2025 2010 84.8 10.1 699 11118 0.00 0.00 11.65 0.443 8198 0.000 0.000 3129 2749 1914 1911 1917 0 0 0 0 0 0 28.83 28.83 14.09

11413 0.86 385.3 3130 2747 1922 1917 55.3 8.7 730 11441 0.12 0.00 25.30 0.352 10758 0.129 0.000 3185 2747 1686 1683 1690 0 0 0 0 0 0 14.43 28.83 14.19

11736 0.89 430.3 3186 2748 1689 1684 23.1 9.2 764 11763 0.00 2.50 19.80 0.272 8708 0.000 0.077 3190 1341 1502 1502 1503 0 0 0 0 0 0 28.83 14.39 14.25

11832 0.93 484.5 3191 1341 1504 1501 14.6 8.7 782 11861 0.00 2.53 24.20 0.239 9222 0.000 0.100 3190 2735 1281 1283 1279 0 0 0 0 0 0 28.83 14.39 14.28

12024 end climb: NO_VERTICAL_VELOCITY

state 12024 begin surface

ID	196	ESCAPE_HEADING	0	C_ROLL_CLIMB	2740	ALTIM_FREQUENCY	13
MISSION	7	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	48	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	750	SM_CC	681.01007	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.75
D_ABORT	1010	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_GAIN	1.5	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0.050000001	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	3258	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	1
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	215	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	250	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	-4734.4995	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	0.0044209026
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	2895	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	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	2760	ALTIM_PING_DELTA	20

GPS1	010814,223554,7132.570,-14407.443,33,0.8,53,22.6	SPEED_LIMITS	0.201,0.252
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.51	MHEAD_RNG_PITCHd_Wd	324.9,6458,-22.3,-11.628,-24.76,1933
_SM_ANGLEo	-78.2	D_GRID	1000
GPS2	010814,224145,7132.604,-14407.483,6,0.9,26,22.6

FREEZE	11.61,4.010,-1.237,0,1,0	_10V_AH	12.72,0.000
SM_CCo	12345,-0.15,0.000,0,0,501,676.54	FG_AHR_24Vo	0.000
SM_GC	2.06,8.90,0.00,-0.15,0.067,0.000,0.000,202,2735,501,-8.36,-0.71,676.54,0,0,0,0,0,0,14.45,28.83,14.52	FG_AHR_10Vo	0.000
RAFOS_CLK	379	MEM	293424
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26725,803
IRIDIUM_FIX	7058.96,-14414.33,010814,190636	CAP_FILE_SIZE	131832,0
TT8_MAMPS	0.04494,0.04494	CFSIZE	2097872896,2081751040
HUMID	45.74	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.57257	INTR	2,12330.32,0x2378b6,7,5
TCM_TEMP	12.30	SOUNDSPEED	1449.9
XPDR_PINGS	5	EKF	12506,4294.095215,-8647.663086,11.612705,0.030932,0.013931,0.005486,0.000292,0.002913,0.000099,0.003025,0.003025,0.000050
SC_FREEKB	3916640	CURRENT	0.011,215.22,1
_24V_AH	12.88,16.335	GPS	020814,021026,7134.041,-14407.792,111,0.7,131,22.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	402	118.56	nil	0	0	0.00
Roll_motor	37	130	63.86	nil	0	0	0.00
VBD_pump_during_apogee	460	1961	11643.36	nil	0	0	0.00
VBD_pump_during_surface	85	729	799.00	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	12056	11	1807.94
Iridium_during_xfer	210	158	429.19	TMICL	0	0	0.00
Transponder_ping	5	420	31.11	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.29
TT8	0	0	0.00
LPSleep	9938	2	292.03
TT8_Active	689	9	83.05
TT8_Sampling	1980	28	729.43
TT8_CF8	86	35	39.19
TT8_Kalman	0	0	0.00
Analog_circuits	1517	10	192.98
GPS_charging	0	0	0.00
Compass	1194	0	11.39
RAFOS	1430	48	873.10
Transponder	38	30	14.75

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.69	-145.9	153	2748	466	535	0.0	0.0	0	70	0.00	0.00	-54.47	0.000	16386	0.000	0.000	152	2748	1998	2009	1988	0	0	0	0	0	0	28.83	28.83	28.83
72	-0.69	-145.9	152	2747	2010	1988	4.2	-6.5	5	126	12.15	1.90	-32.58	0.000	19204	0.402	0.131	2660	3792	3857	3918	3796	0	0	0	0	0	0	14.15	14.31	14.56
350	-0.69	-145.9	2661	3792	3919	3802	75.8	-23.0	58	359	0.00	1.73	0.00	0.000	1030	0.000	0.060	2661	2758	3859	3917	3802	0	0	0	0	0	0	28.83	14.42	28.83
655	-0.69	-145.9	2657	2760	3914	3803	134.9	-18.2	89	662	0.00	1.85	0.00	0.000	260	0.000	0.106	2653	3786	3860	3918	3802	0	0	0	0	0	0	28.83	14.42	28.83
886	-0.69	-145.9	2653	3786	3918	3802	178.2	-17.6	135	895	0.00	1.73	0.00	0.000	1030	0.000	0.062	2653	2756	3860	3918	3802	0	0	0	0	0	0	28.83	14.52	28.83
1199	-0.69	-145.9	2653	2756	3919	3802	226.0	-14.4	167	1207	0.00	1.85	0.00	0.000	260	0.000	0.108	2645	3786	3860	3918	3802	0	0	0	0	0	0	28.83	14.48	28.83
1431	-0.69	-145.9	2645	3787	3918	3803	262.0	-15.3	213	1438	0.00	1.73	0.00	0.000	1030	0.000	0.063	2645	2757	3859	3917	3802	0	0	0	0	0	0	28.83	14.55	28.83
1742	-0.69	-145.9	2645	2757	3918	3802	304.6	-13.4	225	1749	0.00	1.85	0.00	0.000	260	0.000	0.109	2636	3790	3859	3916	3802	0	0	0	0	0	0	28.83	14.53	28.83
1838	-0.69	-145.9	2637	3791	3917	3802	318.8	-15.0	244	1845	0.10	1.70	0.00	0.000	3078	0.259	0.063	2663	2770	3858	3915	3802	0	0	0	0	0	0	14.45	14.59	28.83
2164	-0.69	-145.9	2663	2770	3917	3802	358.7	-12.0	259	2165	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2770	3859	3916	3802	0	0	0	0	0	0	28.83	28.83	28.83
2464	-0.69	-145.9	2664	2771	3916	3803	394.5	-11.9	269	2465	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2770	3858	3915	3802	0	0	0	0	0	0	28.83	28.83	28.83
2764	-0.69	-145.9	2663	2770	3916	3802	430.4	-11.9	279	2765	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2770	3858	3915	3802	0	0	0	0	0	0	28.83	28.83	28.83
3065	-0.69	-145.9	2664	2771	3915	3803	466.2	-12.0	289	3065	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2770	3858	3914	3802	0	0	0	0	0	0	28.83	28.83	28.83
3366	-0.69	-145.9	2664	2771	3915	3803	501.7	-11.8	299	3373	0.00	2.35	0.00	0.000	516	0.000	0.074	2663	1356	3858	3915	3801	0	0	0	0	0	0	28.83	14.65	28.83
3412	-0.69	-145.9	2664	1357	3911	3802	507.3	-10.9	308	3419	0.00	2.50	0.00	0.000	1030	0.000	0.102	2654	2761	3857	3914	3801	0	0	0	0	0	0	28.83	14.62	28.83
3728	-0.69	-145.9	2655	2762	3915	3802	545.8	-12.2	321	3729	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2761	3857	3914	3801	0	0	0	0	0	0	28.83	28.83	28.83
4030	-0.69	-145.9	2655	2762	3915	3802	582.2	-12.1	331	4030	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2761	3857	3914	3801	0	0	0	0	0	0	28.83	28.83	28.83
4328	-0.69	-145.9	2655	2762	3915	3802	618.7	-12.2	341	4329	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2761	3857	3914	3801	0	0	0	0	0	0	28.83	28.83	28.83
4628	-0.69	-145.9	2655	2761	3915	3800	654.5	-11.9	351	4629	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2761	3857	3914	3801	0	0	0	0	0	0	28.83	28.83	28.83
4928	-0.69	-145.9	2655	2761	3915	3801	689.8	-11.7	361	4929	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2761	3857	3914	3801	0	0	0	0	0	0	28.83	28.83	28.83
5228	-0.69	-145.9	2655	2762	3915	3802	725.2	-11.8	371	5229	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2761	3858	3916	3800	0	0	0	0	0	0	28.83	28.83	28.83
5467	end dive: TARGET_DEPTH_EXCEEDED
state	5467	begin apogee
5470	-0.13	0.0	2655	2762	3915	3801	753.1	-11.6	379	5598	0.73	0.00	125.55	1.961	10246	0.233	0.000	2848	2761	3256	3277	3236	0	0	0	0	0	0	14.48	28.83	13.09
5599	end apogee: CONTROL_FINISHED_OK
state	5599	begin climb
5601	0.69	145.9	2848	2761	3273	3234	756.3	0.0	383	5730	0.88	0.00	126.40	1.922	10758	0.143	0.000	3106	2761	2661	2671	2651	0	0	0	0	0	0	13.74	28.83	12.88
6008	0.69	145.9	3107	2762	2669	2641	711.0	13.1	402	6009	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	2760	2654	2668	2640	0	0	0	0	0	0	28.83	28.83	28.83
6308	0.69	145.9	3107	2761	2670	2639	671.4	13.3	412	6315	0.00	2.47	0.00	0.000	516	0.000	0.075	3117	1337	2654	2668	2640	0	0	0	0	0	0	28.83	14.25	28.83
6344	0.69	145.9	3118	1338	2669	2640	666.9	12.4	419	6352	0.00	2.55	0.00	0.000	1030	0.000	0.096	3117	2735	2653	2668	2639	0	0	0	0	0	0	28.83	14.24	28.83
6672	0.69	145.9	3118	2736	2670	2639	621.7	13.9	434	6673	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2736	2653	2668	2639	0	0	0	0	0	0	28.83	28.83	28.83
6971	0.69	145.9	3118	2736	2669	2640	580.5	13.6	444	6972	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2736	2653	2668	2638	0	0	0	0	0	0	28.83	28.83	28.83
7271	0.69	145.9	3118	2736	2669	2639	539.5	13.5	454	7272	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2736	2653	2668	2639	0	0	0	0	0	0	28.83	28.83	28.83
7572	0.69	145.9	3117	2736	2670	2639	498.9	13.4	464	7572	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2736	2653	2668	2639	0	0	0	0	0	0	28.83	28.83	28.83
7871	0.69	145.9	3118	2736	2670	2638	459.3	13.2	474	7872	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2736	2653	2668	2638	0	0	0	0	0	0	28.83	28.83	28.83
8171	0.69	145.9	3118	2737	2669	2639	420.0	13.0	484	8172	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2736	2653	2668	2638	0	0	0	0	0	0	28.83	28.83	28.83
8471	0.69	145.9	3116	2736	2670	2638	381.4	12.8	494	8472	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2736	2653	2669	2638	0	0	0	0	0	0	28.83	28.83	28.83
8772	0.69	145.9	3118	2736	2670	2638	343.1	12.6	504	8772	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2735	2653	2668	2638	0	0	0	0	0	0	28.83	28.83	28.83
9071	0.69	145.9	3118	2736	2670	2638	305.5	12.5	514	9072	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2736	2653	2669	2638	0	0	0	0	0	0	28.83	28.83	28.83
9371	0.69	145.9	3122	2737	2669	2639	268.7	12.2	524	9372	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2736	2653	2668	2638	0	0	0	0	0	0	28.83	28.83	28.83
9671	0.69	145.9	3118	2736	2670	2638	233.5	11.6	542	9672	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2735	2653	2668	2638	0	0	0	0	0	0	28.83	28.83	28.83
9972	0.70	160.8	3118	2737	2669	2639	200.1	10.8	572	9991	0.00	1.90	12.73	1.331	8452	0.000	0.108	3117	3790	2596	2608	2584	0	0	0	0	0	0	28.83	14.50	14.00
10025	0.70	160.8	3118	3792	2607	2585	193.4	13.4	582	10032	0.00	1.75	0.00	0.000	1030	0.000	0.059	3125	2741	2594	2607	2582	0	0	0	0	0	0	28.83	14.54	28.83
10336	0.74	219.6	3125	2742	2607	2584	161.9	8.5	614	10389	0.00	0.00	48.33	1.298	8198	0.000	0.000	3125	2741	2359	2363	2355	0	0	0	0	0	0	28.83	28.83	13.77
10687	0.77	260.1	3126	2741	2363	2346	127.7	9.5	649	10727	0.00	2.50	34.10	1.250	8708	0.000	0.076	3129	1346	2190	2194	2186	0	0	0	0	0	0	28.83	14.19	13.71
10767	0.80	301.0	3130	1346	2190	2185	119.9	9.5	663	10809	0.00	2.53	32.83	1.266	9222	0.000	0.099	3129	2747	2022	2024	2021	0	0	0	0	0	0	28.83	14.21	13.57
11103	0.82	329.8	3130	2747	2025	2010	84.8	10.1	699	11118	0.00	0.00	11.65	0.443	8198	0.000	0.000	3129	2749	1914	1911	1917	0	0	0	0	0	0	28.83	28.83	14.09
11413	0.86	385.3	3130	2747	1922	1917	55.3	8.7	730	11441	0.12	0.00	25.30	0.352	10758	0.129	0.000	3185	2747	1686	1683	1690	0	0	0	0	0	0	14.43	28.83	14.19
11736	0.89	430.3	3186	2748	1689	1684	23.1	9.2	764	11763	0.00	2.50	19.80	0.272	8708	0.000	0.077	3190	1341	1502	1502	1503	0	0	0	0	0	0	28.83	14.39	14.25
11832	0.93	484.5	3191	1341	1504	1501	14.6	8.7	782	11861	0.00	2.53	24.20	0.239	9222	0.000	0.100	3190	2735	1281	1283	1279	0	0	0	0	0	0	28.83	14.39	14.28
12024	end climb: NO_VERTICAL_VELOCITY
state	12024	begin surface