Glider dive log

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 180 C_ROLL_CLIMB 2740 ALTIM_FREQUENCY 13

MISSION 7 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 51 FIX_MISSING_TIMEOUT 4 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 7100 ROLL_TIMEOUT 15 XPDR_VALID 2

D_SURF 2 TGT_DEFAULT_LON -14430 R_PORT_OVSHOOT 47 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 21 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 2 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 9 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 1.75 N_NOCOMM 6 C_VBD 3258 DEVICE4 -1

D_SAFE 500 NOCOMM_ACTION 161 VBD_DBAND 2 DEVICE5 -1

D_CALL 3 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 20 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 1

SURFACE_URGENCY_TRY 10 CALL_TRIES 3 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 20 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 -4737.0244 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 1 RAFOS_PEAK_OFFSET 0 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.1 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 8 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 0

HEADING -1 C_ROLL_DIVE 2760 ALTIM_PING_DELTA 20

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 20

AH0_10V 0 D_TGT 750 PITCH_GAIN 38 SURFACE_URGENCY_FORCE 20

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3896 SURFACE_URGENCY_TRY 10

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 7100

ALTIM_PING_DEPTH 0 FILEMGR 2 PITCH_W_DBAND 0 TGT_DEFAULT_LON -14430

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 4 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 0.1 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 -4737.0244

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 47 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 21 USE_ICE 1

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 8 SEABIRD_C_G -9.7475271 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1204907 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.00083350006 VBD_MIN 500

DIVE 51 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 6 SEABIRD_T_H 0.00065043929 VBD_TIMEOUT 720

D_CALL 3 N_NOSURFACE 0 SEABIRD_T_I 2.5803243e-05 W_ADJ_DBAND 0

D_FINISH 9 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 1.75 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 500 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 020814,084522,7136.697,-14410.361,0,10040.3,0,22.6 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 11.62 MHEAD_RNG_PITCHd_Wd 148.1,1308,-27.9,-11.628,-30.00,1240

_SM_ANGLEo -19.2 D_GRID 1000

GPS2 020814,084522,7136.697,-14410.361,0,10040.3,0,22.6

Post-dive calculations and measurements:

SM_CCo 11405,115.68,0.230,0,0,500,676.54 _24V_AH 12.98,17.111

FINISH1 8.9,1.020328,397 _10V_AH 12.89,0.000

FINISH2 9.7 FG_AHR_24Vo 0.000

RAFOS_CLK 6 FG_AHR_10Vo 0.000

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MEM 292256

IRIDIUM_FIX 7058.96,-14410.35,020814,021237 DATA_FILE_SIZE 30025,847

TT8_MAMPS 0.079394,0.079394 CAP_FILE_SIZE 122502,0

HUMID 44.01 CFSIZE 2097872896,2081226752

INTERNAL_PRESSURE 8.66046 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.20 INTR 0,5788.91,0x2378b6,2,5

XPDR_PINGS 6 SOUNDSPEED 1450.7

SC_FREEKB 3915296 GPS 020814,120038,7135.449,-14410.046,0,10063.1,0,22.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 285 13.52 nil 0 0 0.00

Roll_motor 51 111 74.52 nil 0 0 0.00

VBD_pump_during_apogee 340 1952 8629.74 nil 0 0 0.00

VBD_pump_during_surface 115 230 345.73 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 11628 12 1812.23

Iridium_during_xfer 0 0 0.00 TMICL 0 0 0.00

Transponder_ping 1 420 8.18 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 9278 2 276.26

TT8_Active 556 9 67.93

TT8_Sampling 1786 28 666.51

TT8_CF8 61 35 28.42

TT8_Kalman 0 0 0.00

Analog_circuits 1213 10 156.37

GPS_charging 0 0 0.00

Compass 1256 0 12.15

RAFOS 1462 48 904.57

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.80 -93.6 2963 2761 1673 1560 0.0 0.0 0 30 0.00 0.00 -14.10 0.000 16386 0.000 0.000 2962 2761 2330 2380 2281 0 0 0 0 0 0 28.83 28.83 28.83

31 -0.80 -93.6 2963 2761 2381 2282 11.8 0.0 1 65 0.95 2.40 -24.73 0.000 20996 0.071 0.098 2630 1362 3643 3697 3590 0 0 0 0 0 0 14.36 14.38 14.58

289 -0.80 -93.6 2631 1361 3698 3594 67.9 -19.8 51 296 0.00 2.53 0.00 0.000 1030 0.000 0.101 2619 2756 3645 3697 3594 0 0 0 0 0 0 28.83 14.41 28.83

600 -0.80 -93.6 2620 2757 3698 3595 129.6 -18.7 83 607 0.00 2.40 0.00 0.000 516 0.000 0.074 2619 1372 3645 3697 3594 0 0 0 0 0 0 28.83 14.43 28.83

766 -0.80 -93.6 2620 1373 3698 3595 158.1 -16.0 116 774 0.00 2.53 0.00 0.000 1030 0.000 0.103 2608 2766 3645 3697 3594 0 0 0 0 0 0 28.83 14.46 28.83

1071 -0.80 -93.6 2609 2767 3698 3595 207.8 -15.3 147 1078 0.00 1.83 0.00 0.000 260 0.000 0.106 2600 3785 3645 3697 3594 0 0 0 0 0 0 28.83 14.45 28.83

1136 -0.80 -93.6 2601 3785 3698 3595 218.8 -16.7 160 1145 0.12 1.70 0.00 0.000 3078 0.285 0.062 2630 2772 3645 3697 3594 0 0 0 0 0 0 14.38 14.53 28.83

1462 -0.80 -93.6 2631 2773 3698 3595 261.4 -12.7 187 1462 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2772 3645 3697 3594 0 0 0 0 0 0 28.83 28.83 28.83

1762 -0.80 -93.6 2630 2773 3698 3595 298.2 -12.1 197 1762 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2772 3645 3697 3594 0 0 0 0 0 0 28.83 28.83 28.83

2062 -0.80 -93.6 2631 2772 3698 3594 333.6 -11.7 207 2062 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2772 3645 3697 3594 0 0 0 0 0 0 28.83 28.83 28.83

2362 -0.80 -94.4 2631 2775 3698 3594 368.4 -11.6 217 2363 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2772 3645 3697 3594 0 0 0 0 0 0 28.83 28.83 28.83

2662 -0.80 -94.8 2631 2772 3698 3595 403.2 -11.6 227 2663 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2772 3645 3697 3593 0 0 0 0 0 0 28.83 28.83 28.83

2962 -0.80 -98.7 2631 2773 3698 3595 437.3 -11.3 237 2962 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2769 3645 3697 3594 0 0 0 0 0 0 28.83 28.83 28.83

3262 -0.81 -102.9 2631 2771 3698 3594 471.3 -11.3 247 3263 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2772 3645 3697 3594 0 0 0 0 0 0 28.83 28.83 28.83

3562 -0.81 -108.1 2631 2773 3698 3595 505.0 -11.2 257 3562 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2769 3645 3697 3594 0 0 0 0 0 0 28.83 28.83 28.83

3862 -0.81 -115.4 2631 2773 3698 3595 538.2 -11.0 267 3862 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2772 3645 3697 3594 0 0 0 0 0 0 28.83 28.83 28.83

4162 -0.82 -126.4 2631 2773 3698 3595 570.8 -10.7 277 4170 0.00 1.77 0.00 0.000 260 0.000 0.106 2625 3778 3643 3697 3590 0 0 0 0 0 0 28.83 14.65 28.83

4244 -0.82 -126.4 2625 3779 3698 3594 580.9 -12.5 293 4253 0.00 1.70 0.00 0.000 1030 0.000 0.063 2624 2751 3645 3697 3594 0 0 0 0 0 0 28.83 14.69 28.83

4557 -0.83 -133.1 2621 2753 3703 3595 615.6 -11.1 305 4558 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2751 3645 3697 3594 0 0 0 0 0 0 28.83 28.83 28.83

4857 -0.83 -143.9 2625 2752 3698 3594 648.1 -10.7 315 4857 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2752 3645 3697 3594 0 0 0 0 0 0 28.83 28.83 28.83

5157 -0.84 -145.9 2625 2752 3698 3594 680.4 -10.7 325 5158 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2752 3645 3697 3594 0 0 0 0 0 0 28.83 28.83 28.83

5457 -0.84 -145.9 2625 2752 3705 3595 712.5 -10.7 335 5463 0.00 1.83 0.00 0.000 260 0.000 0.106 2616 3786 3645 3697 3594 0 0 0 0 0 0 28.83 14.67 28.83

5537 -0.84 -145.9 2617 3787 3698 3595 722.2 -12.5 351 5544 0.00 1.70 0.00 0.000 1030 0.000 0.062 2616 2755 3645 3697 3594 0 0 0 0 0 0 28.83 14.71 28.83

5787 end dive: TARGET_DEPTH_EXCEEDED

state 5787 begin apogee

5790 -0.13 0.0 2617 2758 3698 3594 750.3 -11.2 361 5874 0.85 0.00 81.28 1.952 10244 0.252 0.000 2842 2759 3258 3284 3233 0 0 0 0 0 0 14.59 28.83 13.30

5875 end apogee: CONTROL_FINISHED_OK

state 5875 begin climb

5876 0.84 145.9 2844 2759 3280 3229 752.2 0.0 363 6009 1.08 1.92 124.72 1.927 10500 0.160 0.112 3154 3786 2658 2662 2655 0 0 0 0 0 0 13.95 13.97 12.98

6233 0.84 145.9 3154 3786 2662 2648 696.7 18.9 429 6242 0.00 1.80 0.00 0.000 1030 0.000 0.059 3162 2742 2655 2662 2648 0 0 0 0 0 0 28.83 14.15 28.83

6566 0.84 145.9 3163 2743 2663 2649 641.2 16.6 445 6574 0.00 2.42 0.00 0.000 516 0.000 0.076 3173 1334 2654 2662 2647 0 0 0 0 0 0 28.83 14.33 28.83

6798 0.84 145.9 3172 1334 2663 2647 605.3 15.3 491 6805 0.00 2.53 0.00 0.000 1030 0.000 0.097 3173 2736 2654 2661 2647 0 0 0 0 0 0 28.83 14.37 28.83

7109 0.84 145.9 3173 2736 2663 2646 552.9 16.8 503 7109 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 2736 2653 2661 2646 0 0 0 0 0 0 28.83 28.83 28.83

7409 0.84 145.9 3173 2737 2663 2652 502.3 16.8 513 7410 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 2736 2653 2661 2646 0 0 0 0 0 0 28.83 28.83 28.83

7709 0.84 145.9 3173 2736 2663 2646 452.0 16.8 523 7709 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 2733 2653 2661 2646 0 0 0 0 0 0 28.83 28.83 28.83

8009 0.84 145.9 3173 2736 2663 2646 401.9 16.6 533 8010 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 2736 2653 2661 2646 0 0 0 0 0 0 28.83 28.83 28.83

8309 0.84 145.9 3172 2737 2662 2647 352.3 16.5 543 8310 0.00 0.00 0.00 0.000 6 0.000 0.000 3172 2736 2654 2662 2646 0 0 0 0 0 0 28.83 28.83 28.83

8609 0.84 145.9 3173 2736 2663 2646 303.5 16.2 553 8610 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 2736 2654 2662 2646 0 0 0 0 0 0 28.83 28.83 28.83

8909 0.84 145.9 3173 2737 2662 2647 256.1 15.5 563 8910 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 2736 2654 2662 2646 0 0 0 0 0 0 28.83 28.83 28.83

9209 0.84 145.9 3174 2737 2662 2646 210.6 14.8 589 9210 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 2736 2654 2662 2646 0 0 0 0 0 0 28.83 28.83 28.83

9509 0.84 156.1 3173 2736 2663 2646 172.8 10.8 619 9523 0.00 2.45 9.00 1.327 8708 0.000 0.076 3181 1334 2614 2622 2607 0 0 0 0 0 0 28.83 14.54 13.99

9552 0.85 170.7 3181 1333 2625 2609 168.2 10.4 627 9573 0.00 2.53 13.20 1.368 9222 0.000 0.098 3180 2746 2556 2562 2550 0 0 0 0 0 0 28.83 14.52 13.85

9878 0.87 187.9 3182 2746 2563 2549 132.7 10.2 661 9899 0.00 1.85 15.05 1.369 8452 0.000 0.103 3180 3792 2486 2491 2482 0 0 0 0 0 0 28.83 14.37 13.80

9933 0.87 187.9 3181 3791 2492 2482 126.1 13.2 671 9940 0.00 1.77 0.00 0.000 1030 0.000 0.058 3188 2738 2486 2490 2482 0 0 0 0 0 0 28.83 14.41 28.83

10244 0.88 212.6 3189 2739 2491 2481 93.5 9.6 703 10258 0.00 1.92 10.10 0.479 8452 0.000 0.106 3188 3786 2392 2396 2389 0 0 0 0 0 0 28.83 14.40 14.21

10287 0.88 212.6 3189 3786 2405 2393 88.7 12.2 711 10294 0.00 1.75 0.00 0.000 1030 0.000 0.059 3196 2742 2399 2405 2393 0 0 0 0 0 0 28.83 14.45 28.83

10598 0.91 246.3 3196 2741 2405 2392 57.7 8.8 743 10619 0.00 0.00 15.30 0.364 8710 0.000 0.000 3196 2741 2253 2255 2252 0 0 0 0 0 0 28.83 28.83 14.28

10923 0.97 330.4 3197 2742 2262 2253 36.5 4.7 777 10967 0.00 0.00 36.65 0.313 8710 0.000 0.000 3196 2741 1911 1904 1918 0 0 0 0 0 0 28.83 28.83 14.27

11263 1.02 412.3 3197 2740 1908 1911 11.3 4.8 812 11306 0.00 2.47 35.25 0.229 8708 0.000 0.076 3205 1333 1573 1576 1571 0 0 0 0 0 0 28.83 14.38 14.32

11404 end climb: NO_VERTICAL_VELOCITY

state 11404 begin subsurface finish

11565 0.28 397.0 3206 2742 467 532 8.9 2.3 838 11597 0.65 2.45 -25.33 0.000 20996 0.076 0.096 2973 1348 1642 1689 1595 0 0 0 0 0 0 14.34 14.31 14.49

11597 end subsurface finish: CONTROL_FINISHED_OK

state 11597 begin surface

ID	196	ESCAPE_HEADING	180	C_ROLL_CLIMB	2740	ALTIM_FREQUENCY	13
MISSION	7	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	51	FIX_MISSING_TIMEOUT	4	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	7100	ROLL_TIMEOUT	15	XPDR_VALID	2
D_SURF	2	TGT_DEFAULT_LON	-14430	R_PORT_OVSHOOT	47	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	21	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	2	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	9	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	1.75	N_NOCOMM	6	C_VBD	3258	DEVICE4	-1
D_SAFE	500	NOCOMM_ACTION	161	VBD_DBAND	2	DEVICE5	-1
D_CALL	3	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	20	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	1
SURFACE_URGENCY_TRY	10	CALL_TRIES	3	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	20	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	-4737.0244	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	1	RAFOS_PEAK_OFFSET	0	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.1	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	8	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	0
HEADING	-1	C_ROLL_DIVE	2760	ALTIM_PING_DELTA	20

GPS1	020814,084522,7136.697,-14410.361,0,10040.3,0,22.6	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	11.62	MHEAD_RNG_PITCHd_Wd	148.1,1308,-27.9,-11.628,-30.00,1240
_SM_ANGLEo	-19.2	D_GRID	1000
GPS2	020814,084522,7136.697,-14410.361,0,10040.3,0,22.6

SM_CCo	11405,115.68,0.230,0,0,500,676.54	_24V_AH	12.98,17.111
FINISH1	8.9,1.020328,397	_10V_AH	12.89,0.000
FINISH2	9.7	FG_AHR_24Vo	0.000
RAFOS_CLK	6	FG_AHR_10Vo	0.000
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MEM	292256
IRIDIUM_FIX	7058.96,-14410.35,020814,021237	DATA_FILE_SIZE	30025,847
TT8_MAMPS	0.079394,0.079394	CAP_FILE_SIZE	122502,0
HUMID	44.01	CFSIZE	2097872896,2081226752
INTERNAL_PRESSURE	8.66046	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.20	INTR	0,5788.91,0x2378b6,2,5
XPDR_PINGS	6	SOUNDSPEED	1450.7
SC_FREEKB	3915296	GPS	020814,120038,7135.449,-14410.046,0,10063.1,0,22.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	285	13.52	nil	0	0	0.00
Roll_motor	51	111	74.52	nil	0	0	0.00
VBD_pump_during_apogee	340	1952	8629.74	nil	0	0	0.00
VBD_pump_during_surface	115	230	345.73	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	11628	12	1812.23
Iridium_during_xfer	0	0	0.00	TMICL	0	0	0.00
Transponder_ping	1	420	8.18	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	9278	2	276.26
TT8_Active	556	9	67.93
TT8_Sampling	1786	28	666.51
TT8_CF8	61	35	28.42
TT8_Kalman	0	0	0.00
Analog_circuits	1213	10	156.37
GPS_charging	0	0	0.00
Compass	1256	0	12.15
RAFOS	1462	48	904.57
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.80	-93.6	2963	2761	1673	1560	0.0	0.0	0	30	0.00	0.00	-14.10	0.000	16386	0.000	0.000	2962	2761	2330	2380	2281	0	0	0	0	0	0	28.83	28.83	28.83
31	-0.80	-93.6	2963	2761	2381	2282	11.8	0.0	1	65	0.95	2.40	-24.73	0.000	20996	0.071	0.098	2630	1362	3643	3697	3590	0	0	0	0	0	0	14.36	14.38	14.58
289	-0.80	-93.6	2631	1361	3698	3594	67.9	-19.8	51	296	0.00	2.53	0.00	0.000	1030	0.000	0.101	2619	2756	3645	3697	3594	0	0	0	0	0	0	28.83	14.41	28.83
600	-0.80	-93.6	2620	2757	3698	3595	129.6	-18.7	83	607	0.00	2.40	0.00	0.000	516	0.000	0.074	2619	1372	3645	3697	3594	0	0	0	0	0	0	28.83	14.43	28.83
766	-0.80	-93.6	2620	1373	3698	3595	158.1	-16.0	116	774	0.00	2.53	0.00	0.000	1030	0.000	0.103	2608	2766	3645	3697	3594	0	0	0	0	0	0	28.83	14.46	28.83
1071	-0.80	-93.6	2609	2767	3698	3595	207.8	-15.3	147	1078	0.00	1.83	0.00	0.000	260	0.000	0.106	2600	3785	3645	3697	3594	0	0	0	0	0	0	28.83	14.45	28.83
1136	-0.80	-93.6	2601	3785	3698	3595	218.8	-16.7	160	1145	0.12	1.70	0.00	0.000	3078	0.285	0.062	2630	2772	3645	3697	3594	0	0	0	0	0	0	14.38	14.53	28.83
1462	-0.80	-93.6	2631	2773	3698	3595	261.4	-12.7	187	1462	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2772	3645	3697	3594	0	0	0	0	0	0	28.83	28.83	28.83
1762	-0.80	-93.6	2630	2773	3698	3595	298.2	-12.1	197	1762	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2772	3645	3697	3594	0	0	0	0	0	0	28.83	28.83	28.83
2062	-0.80	-93.6	2631	2772	3698	3594	333.6	-11.7	207	2062	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2772	3645	3697	3594	0	0	0	0	0	0	28.83	28.83	28.83
2362	-0.80	-94.4	2631	2775	3698	3594	368.4	-11.6	217	2363	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2772	3645	3697	3594	0	0	0	0	0	0	28.83	28.83	28.83
2662	-0.80	-94.8	2631	2772	3698	3595	403.2	-11.6	227	2663	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2772	3645	3697	3593	0	0	0	0	0	0	28.83	28.83	28.83
2962	-0.80	-98.7	2631	2773	3698	3595	437.3	-11.3	237	2962	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2769	3645	3697	3594	0	0	0	0	0	0	28.83	28.83	28.83
3262	-0.81	-102.9	2631	2771	3698	3594	471.3	-11.3	247	3263	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2772	3645	3697	3594	0	0	0	0	0	0	28.83	28.83	28.83
3562	-0.81	-108.1	2631	2773	3698	3595	505.0	-11.2	257	3562	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2769	3645	3697	3594	0	0	0	0	0	0	28.83	28.83	28.83
3862	-0.81	-115.4	2631	2773	3698	3595	538.2	-11.0	267	3862	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2772	3645	3697	3594	0	0	0	0	0	0	28.83	28.83	28.83
4162	-0.82	-126.4	2631	2773	3698	3595	570.8	-10.7	277	4170	0.00	1.77	0.00	0.000	260	0.000	0.106	2625	3778	3643	3697	3590	0	0	0	0	0	0	28.83	14.65	28.83
4244	-0.82	-126.4	2625	3779	3698	3594	580.9	-12.5	293	4253	0.00	1.70	0.00	0.000	1030	0.000	0.063	2624	2751	3645	3697	3594	0	0	0	0	0	0	28.83	14.69	28.83
4557	-0.83	-133.1	2621	2753	3703	3595	615.6	-11.1	305	4558	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2751	3645	3697	3594	0	0	0	0	0	0	28.83	28.83	28.83
4857	-0.83	-143.9	2625	2752	3698	3594	648.1	-10.7	315	4857	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2752	3645	3697	3594	0	0	0	0	0	0	28.83	28.83	28.83
5157	-0.84	-145.9	2625	2752	3698	3594	680.4	-10.7	325	5158	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2752	3645	3697	3594	0	0	0	0	0	0	28.83	28.83	28.83
5457	-0.84	-145.9	2625	2752	3705	3595	712.5	-10.7	335	5463	0.00	1.83	0.00	0.000	260	0.000	0.106	2616	3786	3645	3697	3594	0	0	0	0	0	0	28.83	14.67	28.83
5537	-0.84	-145.9	2617	3787	3698	3595	722.2	-12.5	351	5544	0.00	1.70	0.00	0.000	1030	0.000	0.062	2616	2755	3645	3697	3594	0	0	0	0	0	0	28.83	14.71	28.83
5787	end dive: TARGET_DEPTH_EXCEEDED
state	5787	begin apogee
5790	-0.13	0.0	2617	2758	3698	3594	750.3	-11.2	361	5874	0.85	0.00	81.28	1.952	10244	0.252	0.000	2842	2759	3258	3284	3233	0	0	0	0	0	0	14.59	28.83	13.30
5875	end apogee: CONTROL_FINISHED_OK
state	5875	begin climb
5876	0.84	145.9	2844	2759	3280	3229	752.2	0.0	363	6009	1.08	1.92	124.72	1.927	10500	0.160	0.112	3154	3786	2658	2662	2655	0	0	0	0	0	0	13.95	13.97	12.98
6233	0.84	145.9	3154	3786	2662	2648	696.7	18.9	429	6242	0.00	1.80	0.00	0.000	1030	0.000	0.059	3162	2742	2655	2662	2648	0	0	0	0	0	0	28.83	14.15	28.83
6566	0.84	145.9	3163	2743	2663	2649	641.2	16.6	445	6574	0.00	2.42	0.00	0.000	516	0.000	0.076	3173	1334	2654	2662	2647	0	0	0	0	0	0	28.83	14.33	28.83
6798	0.84	145.9	3172	1334	2663	2647	605.3	15.3	491	6805	0.00	2.53	0.00	0.000	1030	0.000	0.097	3173	2736	2654	2661	2647	0	0	0	0	0	0	28.83	14.37	28.83
7109	0.84	145.9	3173	2736	2663	2646	552.9	16.8	503	7109	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	2736	2653	2661	2646	0	0	0	0	0	0	28.83	28.83	28.83
7409	0.84	145.9	3173	2737	2663	2652	502.3	16.8	513	7410	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	2736	2653	2661	2646	0	0	0	0	0	0	28.83	28.83	28.83
7709	0.84	145.9	3173	2736	2663	2646	452.0	16.8	523	7709	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	2733	2653	2661	2646	0	0	0	0	0	0	28.83	28.83	28.83
8009	0.84	145.9	3173	2736	2663	2646	401.9	16.6	533	8010	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	2736	2653	2661	2646	0	0	0	0	0	0	28.83	28.83	28.83
8309	0.84	145.9	3172	2737	2662	2647	352.3	16.5	543	8310	0.00	0.00	0.00	0.000	6	0.000	0.000	3172	2736	2654	2662	2646	0	0	0	0	0	0	28.83	28.83	28.83
8609	0.84	145.9	3173	2736	2663	2646	303.5	16.2	553	8610	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	2736	2654	2662	2646	0	0	0	0	0	0	28.83	28.83	28.83
8909	0.84	145.9	3173	2737	2662	2647	256.1	15.5	563	8910	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	2736	2654	2662	2646	0	0	0	0	0	0	28.83	28.83	28.83
9209	0.84	145.9	3174	2737	2662	2646	210.6	14.8	589	9210	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	2736	2654	2662	2646	0	0	0	0	0	0	28.83	28.83	28.83
9509	0.84	156.1	3173	2736	2663	2646	172.8	10.8	619	9523	0.00	2.45	9.00	1.327	8708	0.000	0.076	3181	1334	2614	2622	2607	0	0	0	0	0	0	28.83	14.54	13.99
9552	0.85	170.7	3181	1333	2625	2609	168.2	10.4	627	9573	0.00	2.53	13.20	1.368	9222	0.000	0.098	3180	2746	2556	2562	2550	0	0	0	0	0	0	28.83	14.52	13.85
9878	0.87	187.9	3182	2746	2563	2549	132.7	10.2	661	9899	0.00	1.85	15.05	1.369	8452	0.000	0.103	3180	3792	2486	2491	2482	0	0	0	0	0	0	28.83	14.37	13.80
9933	0.87	187.9	3181	3791	2492	2482	126.1	13.2	671	9940	0.00	1.77	0.00	0.000	1030	0.000	0.058	3188	2738	2486	2490	2482	0	0	0	0	0	0	28.83	14.41	28.83
10244	0.88	212.6	3189	2739	2491	2481	93.5	9.6	703	10258	0.00	1.92	10.10	0.479	8452	0.000	0.106	3188	3786	2392	2396	2389	0	0	0	0	0	0	28.83	14.40	14.21
10287	0.88	212.6	3189	3786	2405	2393	88.7	12.2	711	10294	0.00	1.75	0.00	0.000	1030	0.000	0.059	3196	2742	2399	2405	2393	0	0	0	0	0	0	28.83	14.45	28.83
10598	0.91	246.3	3196	2741	2405	2392	57.7	8.8	743	10619	0.00	0.00	15.30	0.364	8710	0.000	0.000	3196	2741	2253	2255	2252	0	0	0	0	0	0	28.83	28.83	14.28
10923	0.97	330.4	3197	2742	2262	2253	36.5	4.7	777	10967	0.00	0.00	36.65	0.313	8710	0.000	0.000	3196	2741	1911	1904	1918	0	0	0	0	0	0	28.83	28.83	14.27
11263	1.02	412.3	3197	2740	1908	1911	11.3	4.8	812	11306	0.00	2.47	35.25	0.229	8708	0.000	0.076	3205	1333	1573	1576	1571	0	0	0	0	0	0	28.83	14.38	14.32
11404	end climb: NO_VERTICAL_VELOCITY
state	11404	begin subsurface finish
11565	0.28	397.0	3206	2742	467	532	8.9	2.3	838	11597	0.65	2.45	-25.33	0.000	20996	0.076	0.096	2973	1348	1642	1689	1595	0	0	0	0	0	0	14.34	14.31	14.49
11597	end subsurface finish: CONTROL_FINISHED_OK
state	11597	begin surface