Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 50 * 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 50 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 30 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 17 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 648.87579 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.44999999

D_ABORT 1010 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 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 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 -3385.8042 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 0.0043931045

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 2590 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 2680 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 750 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 215

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 198 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -3385.8042

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 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 2590 LOGGERDEVICE4 -1 ROLL_MAX 3790 T_TURN_SAMPINT -5

C_ROLL_CLIMB 3050 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2680 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 30 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 -9.8238754 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 50 N_FILEKB 8 SEABIRD_C_J 0.00020143802 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1010 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 020814,102624,7135.704,-14410.402,46,0.8,66,22.6 SPEED_LIMITS 0.166,0.234

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.96 MHEAD_RNG_PITCHd_Wd 25.0,713,-30.9,-11.628,-35.00,1025

_SM_ANGLEo -74.6 D_GRID 1000

GPS2 020814,104027,7135.683,-14410.692,6,0.8,26,22.6

Post-dive calculations and measurements:

FREEZE 11.77,3.172,-1.434,0,1,0 _10V_AH 12.72,0.000

SM_CCo 9644,129.70,0.209,0,0,502,659.12 FG_AHR_24Vo 0.000

SM_GC 2.16,8.52,1.92,0.00,0.118,0.075,0.000,202,2675,504,-7.41,0.99,657.89,0,0,0,0,0,0,14.48,14.49,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 338 MEM 289720

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 30057,871

IRIDIUM_FIX 7058.96,-14404.85,020814,062813 CAP_FILE_SIZE 135989,0

TT8_MAMPS 0.046438,0.046438 CFSIZE 2097872896,2080309248

HUMID 52.48 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.57378 INTR 0,14617.60,0x2378b6,7,5

TCM_TEMP 12.10 SOUNDSPEED 1450.5

XPDR_PINGS 0 EKF 10082,4296.600586,-8648.659180,11.767865,0.002886,-0.001160,0.016335,0.000181,0.001821,0.000095,0.001025,0.001025,0.000034

SC_FREEKB 3997984 CURRENT 0.050,290.03,1

TM_FREEKB 7192928 GPS 020814,132844,7136.695,-14409.479,16,0.8,36,22.6

_24V_AH 13.02,17.957

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 459 133.34 nil 0 0 0.00

Roll_motor 52 134 91.59 nil 0 0 0.00

VBD_pump_during_apogee 457 1748 10419.20 nil 0 0 0.00

VBD_pump_during_surface 129 208 352.68 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 9671 12 1594.86

Iridium_during_xfer 536 204 1426.37 TMICL 9762 13 1697.31

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 0 0.26

TT8 0 0 0.00

LPSleep 7399 2 217.42

TT8_Active 724 8 80.49

TT8_Sampling 2619 28 939.80

TT8_CF8 104 35 47.44

TT8_Kalman 0 0 0.00

Analog_circuits 2008 10 255.44

GPS_charging 0 0 0.00

Compass 1288 0 12.29

RAFOS 1496 48 913.40

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

19 -0.91 -77.4 201 2674 466 521 0.0 0.0 0 75 0.00 0.00 -52.97 0.000 16386 0.000 0.000 200 2673 1840 1873 1808 0 0 0 0 0 0 28.83 28.83 28.83

77 -0.96 -145.9 202 2674 1874 1809 3.7 -4.0 5 133 10.80 2.40 -35.53 0.000 18948 0.460 0.103 2270 1268 3781 3846 3717 0 0 0 0 0 0 14.09 14.31 14.50

357 -0.96 -145.9 2271 1268 3847 3723 73.6 -22.3 58 366 0.00 2.53 0.00 0.000 1030 0.000 0.107 2264 2681 3784 3846 3722 0 0 0 0 0 0 28.83 14.38 28.83

662 -0.96 -145.9 2265 2682 3847 3723 142.3 -21.5 89 670 0.00 2.40 0.00 0.000 516 0.000 0.083 2264 1270 3784 3846 3723 0 0 0 0 0 0 28.83 14.47 28.83

895 -0.99 -145.9 2265 1270 3847 3724 186.2 -17.8 135 902 0.00 2.50 0.00 0.000 1030 0.000 0.111 2264 2682 3784 3846 3723 0 0 0 0 0 0 28.83 14.47 28.83

1206 -1.01 -145.9 2265 2681 3847 3722 239.0 -16.1 167 1215 0.00 2.40 0.00 0.000 516 0.000 0.083 2264 1266 3783 3846 3721 0 0 0 0 0 0 28.83 14.53 28.83

1269 -1.05 -145.9 2265 1266 3847 3721 248.8 -15.7 179 1277 0.00 2.50 0.00 0.000 1030 0.000 0.112 2264 2680 3783 3845 3721 0 0 0 0 0 0 28.83 14.50 28.83

1581 -1.09 -145.9 2265 2680 3847 3720 296.8 -15.4 191 1584 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2679 3783 3846 3720 0 0 0 0 0 0 28.83 28.83 28.83

1881 -1.12 -145.9 2265 2680 3847 3719 342.6 -15.2 201 1884 0.12 0.00 0.00 0.000 4102 0.164 0.000 2218 2680 3782 3846 3718 0 0 0 0 0 0 14.61 28.83 28.83

2181 -1.12 -145.9 2218 2680 3852 3718 394.4 -17.2 211 2183 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 2680 3782 3845 3719 0 0 0 0 0 0 28.83 28.83 28.83

2481 -1.12 -145.9 2218 2680 3846 3718 446.1 -17.1 221 2484 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2680 3782 3845 3719 0 0 0 0 0 0 28.83 28.83 28.83

2781 -1.12 -145.9 2218 2680 3843 3719 497.3 -17.0 231 2789 0.00 2.38 0.00 0.000 516 0.000 0.084 2217 1268 3782 3846 3718 0 0 0 0 0 0 28.83 14.62 28.83

2823 -1.12 -145.9 2217 1267 3847 3718 504.2 -16.1 239 2831 0.00 2.47 0.00 0.000 1030 0.000 0.107 2207 2683 3781 3845 3717 0 0 0 0 0 0 28.83 14.61 28.83

3146 -1.12 -145.9 2207 2682 3846 3717 559.7 -17.3 253 3148 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2682 3781 3845 3718 0 0 0 0 0 0 28.83 28.83 28.83

3445 -1.12 -145.9 2207 2683 3845 3719 610.8 -17.0 263 3447 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2682 3780 3844 3716 0 0 0 0 0 0 28.83 28.83 28.83

3745 -1.12 -145.9 2208 2684 3846 3718 661.6 -16.9 273 3748 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2682 3781 3844 3718 0 0 0 0 0 0 28.83 28.83 28.83

4045 -1.12 -145.9 2208 2683 3845 3715 711.9 -16.6 283 4048 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2681 3781 3845 3718 0 0 0 0 0 0 28.83 28.83 28.83

4284 end dive: TARGET_DEPTH_EXCEEDED

state 4284 begin apogee

4287 -0.14 0.0 2205 3062 3846 3717 751.3 -16.5 291 4471 1.35 0.00 178.20 1.473 10246 0.327 0.000 2538 3067 3183 3262 3104 0 0 0 0 0 0 14.53 28.83 13.31

4473 end apogee: CONTROL_FINISHED_OK

state 4473 begin climb

4475 0.96 145.9 2538 3062 3261 3101 756.0 0.0 297 4612 1.23 1.45 123.93 1.748 10500 0.185 0.119 2889 3792 2584 2651 2518 0 0 0 0 0 0 13.85 13.62 13.02

4852 0.96 145.9 2892 3793 2639 2508 694.1 20.5 362 4861 0.00 1.33 0.00 0.000 1030 0.000 0.076 2894 3043 2573 2638 2508 0 0 0 0 0 0 28.83 14.08 28.83

5158 0.96 145.9 2895 3043 2639 2506 637.2 18.6 373 5166 0.00 1.38 0.00 0.000 260 0.000 0.122 2894 3778 2572 2638 2506 0 0 0 0 0 0 28.83 14.22 28.83

5300 0.94 145.9 2894 3779 2639 2506 608.5 20.1 401 5308 0.00 1.27 0.00 0.000 1030 0.000 0.078 2900 3047 2575 2645 2506 0 0 0 0 0 0 28.83 14.32 28.83

5613 0.94 145.9 2900 3047 2639 2502 549.7 18.7 413 5621 0.00 1.38 0.00 0.000 260 0.000 0.122 2900 3787 2571 2638 2505 0 0 0 0 0 0 28.83 14.35 28.83

5750 0.91 145.9 2901 3787 2638 2505 521.2 20.7 440 5760 0.00 1.27 0.00 0.000 1030 0.000 0.078 2906 3046 2570 2637 2504 0 0 0 0 0 0 28.83 14.41 28.83

6069 0.91 145.9 2904 3047 2638 2506 460.5 18.9 453 6077 0.00 1.35 0.00 0.000 260 0.000 0.122 2906 3780 2570 2637 2504 0 0 0 0 0 0 28.83 14.40 28.83

6181 0.89 145.9 2907 3780 2638 2504 437.3 21.1 475 6189 0.12 1.25 0.00 0.000 5126 0.321 0.079 2880 3054 2570 2636 2504 0 0 0 0 0 0 14.31 14.45 28.83

6493 0.89 145.9 2881 3054 2638 2504 382.4 17.6 487 6500 0.00 1.35 0.00 0.000 260 0.000 0.122 2880 3787 2570 2637 2504 0 0 0 0 0 0 28.83 14.45 28.83

6629 0.89 145.9 2881 3788 2637 2505 356.2 19.0 514 6637 0.00 1.27 0.00 0.000 1030 0.000 0.079 2885 3046 2568 2632 2504 0 0 0 0 0 0 28.83 14.55 28.83

6947 0.89 145.9 2887 3046 2638 2504 300.8 17.2 527 6954 0.00 1.35 0.00 0.000 260 0.000 0.122 2886 3784 2570 2636 2504 0 0 0 0 0 0 28.83 14.54 28.83

7128 0.89 145.9 2887 3785 2637 2505 266.8 18.5 563 7136 0.00 1.25 0.00 0.000 1030 0.000 0.079 2891 3052 2568 2632 2504 0 0 0 0 0 0 28.83 14.60 28.83

7440 0.89 145.9 2898 3053 2638 2505 215.3 15.5 591 7442 0.00 0.00 0.00 0.000 6 0.000 0.000 2891 3049 2570 2637 2504 0 0 0 0 0 0 28.83 28.83 28.83

7740 0.89 145.9 2893 3052 2638 2504 171.9 12.7 621 7747 0.00 1.33 0.00 0.000 260 0.000 0.123 2891 3779 2570 2637 2504 0 0 0 0 0 0 28.83 14.55 28.83

7832 0.89 145.9 2892 3779 2637 2505 159.8 13.0 639 7839 0.00 1.25 0.00 0.000 1030 0.000 0.080 2897 3048 2570 2637 2504 0 0 0 0 0 0 28.83 14.57 28.83

8144 0.92 168.9 2897 3048 2638 2504 127.7 9.3 671 8173 0.00 2.40 18.67 1.078 8708 0.000 0.080 2908 1632 2486 2555 2418 0 0 0 0 0 0 28.83 14.47 14.05

8227 0.99 185.2 2909 1632 2549 2410 119.6 10.0 686 8250 0.00 2.50 13.05 1.046 9222 0.000 0.111 2908 3047 2423 2491 2356 0 0 0 0 0 0 28.83 14.45 13.97

8545 1.02 196.5 2908 3043 2483 2350 84.8 10.5 719 8553 0.00 1.40 3.95 0.309 8452 0.000 0.125 2908 3794 2384 2452 2316 0 0 0 0 0 0 28.83 14.45 14.26

8672 1.03 200.9 2909 3795 2490 2317 71.1 11.2 744 8684 0.00 1.27 4.88 0.319 9222 0.000 0.077 2913 3050 2369 2445 2294 0 0 0 0 0 0 28.83 14.47 14.32

8979 1.13 286.2 2914 3047 2477 2294 49.4 3.1 775 9034 0.12 1.33 46.62 0.324 10500 0.157 0.124 2963 3786 2020 2087 1953 0 0 0 0 0 0 14.51 14.39 14.29

9128 1.13 286.2 2963 3786 2100 1957 36.4 12.0 802 9137 0.00 1.27 1.42 0.213 9222 0.000 0.080 2969 3048 2020 2086 1954 0 0 0 0 0 0 28.83 14.47 14.39

9434 1.28 414.3 2969 3048 2102 1954 12.9 -1.2 833 9507 0.00 1.42 67.07 0.213 8452 0.000 0.135 2968 3790 1497 1549 1445 0 0 0 0 0 0 28.83 14.36 14.35

9640 end climb: NO_VERTICAL_VELOCITY

state 9640 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	50	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	30	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	17	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	648.87579	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.44999999
D_ABORT	1010	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	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	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	-3385.8042	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	0.0043931045
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	2590	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	2680	ALTIM_PING_DELTA	5

GPS1	020814,102624,7135.704,-14410.402,46,0.8,66,22.6	SPEED_LIMITS	0.166,0.234
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.96	MHEAD_RNG_PITCHd_Wd	25.0,713,-30.9,-11.628,-35.00,1025
_SM_ANGLEo	-74.6	D_GRID	1000
GPS2	020814,104027,7135.683,-14410.692,6,0.8,26,22.6

FREEZE	11.77,3.172,-1.434,0,1,0	_10V_AH	12.72,0.000
SM_CCo	9644,129.70,0.209,0,0,502,659.12	FG_AHR_24Vo	0.000
SM_GC	2.16,8.52,1.92,0.00,0.118,0.075,0.000,202,2675,504,-7.41,0.99,657.89,0,0,0,0,0,0,14.48,14.49,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	338	MEM	289720
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	30057,871
IRIDIUM_FIX	7058.96,-14404.85,020814,062813	CAP_FILE_SIZE	135989,0
TT8_MAMPS	0.046438,0.046438	CFSIZE	2097872896,2080309248
HUMID	52.48	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.57378	INTR	0,14617.60,0x2378b6,7,5
TCM_TEMP	12.10	SOUNDSPEED	1450.5
XPDR_PINGS	0	EKF	10082,4296.600586,-8648.659180,11.767865,0.002886,-0.001160,0.016335,0.000181,0.001821,0.000095,0.001025,0.001025,0.000034
SC_FREEKB	3997984	CURRENT	0.050,290.03,1
TM_FREEKB	7192928	GPS	020814,132844,7136.695,-14409.479,16,0.8,36,22.6
_24V_AH	13.02,17.957

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	459	133.34	nil	0	0	0.00
Roll_motor	52	134	91.59	nil	0	0	0.00
VBD_pump_during_apogee	457	1748	10419.20	nil	0	0	0.00
VBD_pump_during_surface	129	208	352.68	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	9671	12	1594.86
Iridium_during_xfer	536	204	1426.37	TMICL	9762	13	1697.31
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	0	0.26
TT8	0	0	0.00
LPSleep	7399	2	217.42
TT8_Active	724	8	80.49
TT8_Sampling	2619	28	939.80
TT8_CF8	104	35	47.44
TT8_Kalman	0	0	0.00
Analog_circuits	2008	10	255.44
GPS_charging	0	0	0.00
Compass	1288	0	12.29
RAFOS	1496	48	913.40
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
19	-0.91	-77.4	201	2674	466	521	0.0	0.0	0	75	0.00	0.00	-52.97	0.000	16386	0.000	0.000	200	2673	1840	1873	1808	0	0	0	0	0	0	28.83	28.83	28.83
77	-0.96	-145.9	202	2674	1874	1809	3.7	-4.0	5	133	10.80	2.40	-35.53	0.000	18948	0.460	0.103	2270	1268	3781	3846	3717	0	0	0	0	0	0	14.09	14.31	14.50
357	-0.96	-145.9	2271	1268	3847	3723	73.6	-22.3	58	366	0.00	2.53	0.00	0.000	1030	0.000	0.107	2264	2681	3784	3846	3722	0	0	0	0	0	0	28.83	14.38	28.83
662	-0.96	-145.9	2265	2682	3847	3723	142.3	-21.5	89	670	0.00	2.40	0.00	0.000	516	0.000	0.083	2264	1270	3784	3846	3723	0	0	0	0	0	0	28.83	14.47	28.83
895	-0.99	-145.9	2265	1270	3847	3724	186.2	-17.8	135	902	0.00	2.50	0.00	0.000	1030	0.000	0.111	2264	2682	3784	3846	3723	0	0	0	0	0	0	28.83	14.47	28.83
1206	-1.01	-145.9	2265	2681	3847	3722	239.0	-16.1	167	1215	0.00	2.40	0.00	0.000	516	0.000	0.083	2264	1266	3783	3846	3721	0	0	0	0	0	0	28.83	14.53	28.83
1269	-1.05	-145.9	2265	1266	3847	3721	248.8	-15.7	179	1277	0.00	2.50	0.00	0.000	1030	0.000	0.112	2264	2680	3783	3845	3721	0	0	0	0	0	0	28.83	14.50	28.83
1581	-1.09	-145.9	2265	2680	3847	3720	296.8	-15.4	191	1584	0.00	0.00	0.00	0.000	6	0.000	0.000	2264	2679	3783	3846	3720	0	0	0	0	0	0	28.83	28.83	28.83
1881	-1.12	-145.9	2265	2680	3847	3719	342.6	-15.2	201	1884	0.12	0.00	0.00	0.000	4102	0.164	0.000	2218	2680	3782	3846	3718	0	0	0	0	0	0	14.61	28.83	28.83
2181	-1.12	-145.9	2218	2680	3852	3718	394.4	-17.2	211	2183	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	2680	3782	3845	3719	0	0	0	0	0	0	28.83	28.83	28.83
2481	-1.12	-145.9	2218	2680	3846	3718	446.1	-17.1	221	2484	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2680	3782	3845	3719	0	0	0	0	0	0	28.83	28.83	28.83
2781	-1.12	-145.9	2218	2680	3843	3719	497.3	-17.0	231	2789	0.00	2.38	0.00	0.000	516	0.000	0.084	2217	1268	3782	3846	3718	0	0	0	0	0	0	28.83	14.62	28.83
2823	-1.12	-145.9	2217	1267	3847	3718	504.2	-16.1	239	2831	0.00	2.47	0.00	0.000	1030	0.000	0.107	2207	2683	3781	3845	3717	0	0	0	0	0	0	28.83	14.61	28.83
3146	-1.12	-145.9	2207	2682	3846	3717	559.7	-17.3	253	3148	0.00	0.00	0.00	0.000	6	0.000	0.000	2207	2682	3781	3845	3718	0	0	0	0	0	0	28.83	28.83	28.83
3445	-1.12	-145.9	2207	2683	3845	3719	610.8	-17.0	263	3447	0.00	0.00	0.00	0.000	6	0.000	0.000	2207	2682	3780	3844	3716	0	0	0	0	0	0	28.83	28.83	28.83
3745	-1.12	-145.9	2208	2684	3846	3718	661.6	-16.9	273	3748	0.00	0.00	0.00	0.000	6	0.000	0.000	2207	2682	3781	3844	3718	0	0	0	0	0	0	28.83	28.83	28.83
4045	-1.12	-145.9	2208	2683	3845	3715	711.9	-16.6	283	4048	0.00	0.00	0.00	0.000	6	0.000	0.000	2207	2681	3781	3845	3718	0	0	0	0	0	0	28.83	28.83	28.83
4284	end dive: TARGET_DEPTH_EXCEEDED
state	4284	begin apogee
4287	-0.14	0.0	2205	3062	3846	3717	751.3	-16.5	291	4471	1.35	0.00	178.20	1.473	10246	0.327	0.000	2538	3067	3183	3262	3104	0	0	0	0	0	0	14.53	28.83	13.31
4473	end apogee: CONTROL_FINISHED_OK
state	4473	begin climb
4475	0.96	145.9	2538	3062	3261	3101	756.0	0.0	297	4612	1.23	1.45	123.93	1.748	10500	0.185	0.119	2889	3792	2584	2651	2518	0	0	0	0	0	0	13.85	13.62	13.02
4852	0.96	145.9	2892	3793	2639	2508	694.1	20.5	362	4861	0.00	1.33	0.00	0.000	1030	0.000	0.076	2894	3043	2573	2638	2508	0	0	0	0	0	0	28.83	14.08	28.83
5158	0.96	145.9	2895	3043	2639	2506	637.2	18.6	373	5166	0.00	1.38	0.00	0.000	260	0.000	0.122	2894	3778	2572	2638	2506	0	0	0	0	0	0	28.83	14.22	28.83
5300	0.94	145.9	2894	3779	2639	2506	608.5	20.1	401	5308	0.00	1.27	0.00	0.000	1030	0.000	0.078	2900	3047	2575	2645	2506	0	0	0	0	0	0	28.83	14.32	28.83
5613	0.94	145.9	2900	3047	2639	2502	549.7	18.7	413	5621	0.00	1.38	0.00	0.000	260	0.000	0.122	2900	3787	2571	2638	2505	0	0	0	0	0	0	28.83	14.35	28.83
5750	0.91	145.9	2901	3787	2638	2505	521.2	20.7	440	5760	0.00	1.27	0.00	0.000	1030	0.000	0.078	2906	3046	2570	2637	2504	0	0	0	0	0	0	28.83	14.41	28.83
6069	0.91	145.9	2904	3047	2638	2506	460.5	18.9	453	6077	0.00	1.35	0.00	0.000	260	0.000	0.122	2906	3780	2570	2637	2504	0	0	0	0	0	0	28.83	14.40	28.83
6181	0.89	145.9	2907	3780	2638	2504	437.3	21.1	475	6189	0.12	1.25	0.00	0.000	5126	0.321	0.079	2880	3054	2570	2636	2504	0	0	0	0	0	0	14.31	14.45	28.83
6493	0.89	145.9	2881	3054	2638	2504	382.4	17.6	487	6500	0.00	1.35	0.00	0.000	260	0.000	0.122	2880	3787	2570	2637	2504	0	0	0	0	0	0	28.83	14.45	28.83
6629	0.89	145.9	2881	3788	2637	2505	356.2	19.0	514	6637	0.00	1.27	0.00	0.000	1030	0.000	0.079	2885	3046	2568	2632	2504	0	0	0	0	0	0	28.83	14.55	28.83
6947	0.89	145.9	2887	3046	2638	2504	300.8	17.2	527	6954	0.00	1.35	0.00	0.000	260	0.000	0.122	2886	3784	2570	2636	2504	0	0	0	0	0	0	28.83	14.54	28.83
7128	0.89	145.9	2887	3785	2637	2505	266.8	18.5	563	7136	0.00	1.25	0.00	0.000	1030	0.000	0.079	2891	3052	2568	2632	2504	0	0	0	0	0	0	28.83	14.60	28.83
7440	0.89	145.9	2898	3053	2638	2505	215.3	15.5	591	7442	0.00	0.00	0.00	0.000	6	0.000	0.000	2891	3049	2570	2637	2504	0	0	0	0	0	0	28.83	28.83	28.83
7740	0.89	145.9	2893	3052	2638	2504	171.9	12.7	621	7747	0.00	1.33	0.00	0.000	260	0.000	0.123	2891	3779	2570	2637	2504	0	0	0	0	0	0	28.83	14.55	28.83
7832	0.89	145.9	2892	3779	2637	2505	159.8	13.0	639	7839	0.00	1.25	0.00	0.000	1030	0.000	0.080	2897	3048	2570	2637	2504	0	0	0	0	0	0	28.83	14.57	28.83
8144	0.92	168.9	2897	3048	2638	2504	127.7	9.3	671	8173	0.00	2.40	18.67	1.078	8708	0.000	0.080	2908	1632	2486	2555	2418	0	0	0	0	0	0	28.83	14.47	14.05
8227	0.99	185.2	2909	1632	2549	2410	119.6	10.0	686	8250	0.00	2.50	13.05	1.046	9222	0.000	0.111	2908	3047	2423	2491	2356	0	0	0	0	0	0	28.83	14.45	13.97
8545	1.02	196.5	2908	3043	2483	2350	84.8	10.5	719	8553	0.00	1.40	3.95	0.309	8452	0.000	0.125	2908	3794	2384	2452	2316	0	0	0	0	0	0	28.83	14.45	14.26
8672	1.03	200.9	2909	3795	2490	2317	71.1	11.2	744	8684	0.00	1.27	4.88	0.319	9222	0.000	0.077	2913	3050	2369	2445	2294	0	0	0	0	0	0	28.83	14.47	14.32
8979	1.13	286.2	2914	3047	2477	2294	49.4	3.1	775	9034	0.12	1.33	46.62	0.324	10500	0.157	0.124	2963	3786	2020	2087	1953	0	0	0	0	0	0	14.51	14.39	14.29
9128	1.13	286.2	2963	3786	2100	1957	36.4	12.0	802	9137	0.00	1.27	1.42	0.213	9222	0.000	0.080	2969	3048	2020	2086	1954	0	0	0	0	0	0	28.83	14.47	14.39
9434	1.28	414.3	2969	3048	2102	1954	12.9	-1.2	833	9507	0.00	1.42	67.07	0.213	8452	0.000	0.135	2968	3790	1497	1549	1445	0	0	0	0	0	0	28.83	14.36	14.35
9640	end climb: NO_VERTICAL_VELOCITY
state	9640	begin surface