Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 52 * 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 52 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 35 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 14 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 -3388.3274 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 -3388.3274

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 35 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 14 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 52 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 020814,165724,7135.661,-14409.810,35,0.9,55,22.6 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 336.6,769,-30.9,-11.628,-35.00,1025

_SM_ANGLEo -74.4 D_GRID 1000

GPS2 020814,171046,7135.588,-14409.828,6,0.8,26,22.6

Post-dive calculations and measurements:

FREEZE 11.65,3.126,-1.488,0,1,0 _10V_AH 12.67,0.000

SM_CCo 9747,180.70,0.207,0,0,499,659.37 FG_AHR_24Vo 0.000

SM_GC 2.17,8.27,1.90,0.00,0.100,0.118,0.000,204,2678,489,-7.40,-0.65,661.57,0,0,0,0,0,0,14.50,14.45,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 637 MEM 288716

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 30029,893

IRIDIUM_FIX 7058.96,-14406.37,020814,133252 CAP_FILE_SIZE 136121,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2079752192

HUMID 52.00 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0

INTERNAL_PRESSURE 8.56402 INTR 0,12658.86,0x2378b6,7,5

TCM_TEMP 12.10 SOUNDSPEED 1450.8

XPDR_PINGS 0 EKF 10276,4296.793457,-8650.416016,11.646286,-0.017130,0.018223,-0.005538,0.000172,0.001724,0.000095,0.001525,0.001525,0.000034

SC_FREEKB 3997088 CURRENT 0.047,262.64,1

TM_FREEKB 7158784 GPS 020814,200218,7136.755,-14411.215,35,0.9,55,22.6

_24V_AH 12.78,18.580

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 455 127.40 nil 0 0 0.00

Roll_motor 47 131 79.79 nil 0 0 0.00

VBD_pump_during_apogee 374 2467 11805.57 nil 0 0 0.00

VBD_pump_during_surface 180 206 477.00 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 9775 12 1570.68

Iridium_during_xfer 509 203 1324.88 TMICL 9850 13 1675.13

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 7560 2 221.27

TT8_Active 715 8 79.17

TT8_Sampling 2599 28 928.80

TT8_CF8 103 35 47.02

TT8_Kalman 0 0 0.00

Analog_circuits 1978 10 250.71

GPS_charging 0 0 0.00

Compass 1323 0 12.58

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.91 -77.4 198 2676 474 528 0.0 0.0 0 74 0.00 0.00 -52.72 0.000 16386 0.000 0.000 197 2676 1853 1873 1834 0 0 0 0 0 0 28.83 28.83 28.83

76 -0.96 -145.9 198 2676 1875 1835 3.6 -4.0 5 131 10.70 2.47 -36.53 0.000 18948 0.455 0.107 2273 1272 3780 3845 3716 0 0 0 0 0 0 14.10 14.32 14.50

310 -0.96 -145.9 2274 1271 3846 3729 59.0 -22.6 49 320 0.00 2.50 0.00 0.000 1030 0.000 0.107 2265 2682 3783 3845 3722 0 0 0 0 0 0 28.83 14.34 28.83

624 -0.96 -145.9 2265 2683 3846 3723 129.4 -21.2 81 633 0.00 2.40 0.00 0.000 516 0.000 0.080 2265 1267 3783 3845 3722 0 0 0 0 0 0 28.83 14.48 28.83

642 -0.96 -145.9 2265 1266 3846 3722 133.2 -21.3 84 652 0.00 2.53 0.00 0.000 1030 0.000 0.112 2262 2688 3783 3845 3721 0 0 0 0 0 0 28.83 14.45 28.83

947 -0.96 -145.9 2265 2689 3846 3725 193.5 -18.3 115 949 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2688 3783 3845 3722 0 0 0 0 0 0 28.83 28.83 28.83

1247 -0.99 -145.9 2265 2686 3846 3722 243.3 -16.1 145 1256 0.00 1.98 0.00 0.000 260 0.000 0.130 2264 3790 3784 3849 3720 0 0 0 0 0 0 28.83 14.50 28.83

1315 -0.99 -145.9 2265 3791 3846 3721 255.2 -17.8 158 1323 0.00 1.90 0.00 0.000 1030 0.000 0.078 2264 2676 3782 3845 3719 0 0 0 0 0 0 28.83 14.55 28.83

1643 -1.02 -145.9 2265 2676 3846 3719 306.6 -15.5 173 1645 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2676 3782 3845 3719 0 0 0 0 0 0 28.83 28.83 28.83

1942 -1.05 -145.9 2265 2677 3845 3719 352.0 -14.9 183 1945 0.00 0.00 0.00 0.000 6 0.000 0.000 2260 2675 3781 3845 3718 0 0 0 0 0 0 28.83 28.83 28.83

2242 -1.09 -145.9 2265 2676 3846 3717 396.5 -14.8 193 2246 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2676 3779 3845 3713 0 0 0 0 0 0 28.83 28.83 28.83

2542 -1.13 -145.9 2265 2676 3846 3716 440.9 -14.7 203 2545 0.12 0.00 0.00 0.000 4102 0.164 0.000 2215 2676 3780 3845 3715 0 0 0 0 0 0 14.63 28.83 28.83

2842 -1.13 -145.9 2216 2676 3846 3715 491.3 -16.9 213 2844 0.00 0.00 0.00 0.000 6 0.000 0.000 2216 2676 3780 3845 3715 0 0 0 0 0 0 28.83 28.83 28.83

3142 -1.13 -145.9 2216 2676 3845 3715 541.5 -16.8 223 3145 0.00 0.00 0.00 0.000 6 0.000 0.000 2216 2676 3780 3845 3715 0 0 0 0 0 0 28.83 28.83 28.83

3442 -1.13 -145.9 2217 2677 3845 3716 591.0 -16.4 233 3452 0.00 2.35 0.00 0.000 516 0.000 0.088 2216 1272 3779 3844 3714 0 0 0 0 0 0 28.83 14.66 28.83

3491 -1.13 -145.9 2217 1273 3845 3716 598.9 -15.5 242 3499 0.00 2.47 0.00 0.000 1030 0.000 0.113 2208 2681 3780 3845 3715 0 0 0 0 0 0 28.83 14.63 28.83

3809 -1.13 -145.9 2209 2682 3845 3715 651.9 -16.8 255 3812 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 2681 3779 3844 3714 0 0 0 0 0 0 28.83 28.83 28.83

4108 -1.13 -145.9 2208 2681 3845 3715 702.1 -16.6 265 4111 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 2681 3779 3844 3714 0 0 0 0 0 0 28.83 28.83 28.83

4407 end dive: TARGET_DEPTH_EXCEEDED

state 4408 begin apogee

4411 -0.14 0.0 2207 3059 3845 3714 751.8 -16.5 275 4563 1.33 0.00 138.57 2.467 10246 0.327 0.000 2535 3059 3191 3282 3100 0 0 0 0 1 0 14.52 28.83 12.78

4565 end apogee: CONTROL_FINISHED_OK

state 4565 begin climb

4566 0.96 145.9 2537 3060 3287 3104 756.7 0.0 280 4709 1.25 1.45 128.20 1.787 10500 0.181 0.122 2892 3780 2585 2657 2514 0 0 0 0 0 0 13.74 13.48 12.92

4933 0.96 145.9 2893 3781 2648 2510 698.7 20.0 346 4940 0.00 1.30 0.00 0.000 1030 0.000 0.080 2898 3055 2578 2647 2509 0 0 0 0 0 0 28.83 14.02 28.83

5265 0.96 145.9 2898 3056 2648 2509 637.3 18.4 362 5273 0.00 1.38 0.00 0.000 260 0.000 0.125 2897 3787 2580 2653 2508 0 0 0 0 0 0 28.83 14.23 28.83

5477 0.94 145.9 2898 3787 2643 2508 594.4 20.1 404 5484 0.00 1.30 0.00 0.000 1030 0.000 0.081 2903 3044 2577 2647 2508 0 0 0 0 0 0 28.83 14.37 28.83

5809 0.94 145.9 2904 3044 2648 2508 531.8 18.8 420 5816 0.00 1.38 0.00 0.000 260 0.000 0.126 2903 3786 2577 2647 2508 0 0 0 0 0 0 28.83 14.42 28.83

5970 0.90 145.9 2903 3786 2648 2508 498.4 20.3 452 5978 0.00 1.27 0.00 0.000 1030 0.000 0.082 2909 3047 2577 2647 2508 0 0 0 0 0 0 28.83 14.49 28.83

6292 0.90 145.9 2909 3048 2648 2508 437.8 18.5 466 6300 0.00 1.35 0.00 0.000 260 0.000 0.125 2909 3783 2577 2647 2508 0 0 0 0 0 0 28.83 14.50 28.83

6444 0.87 145.9 2909 3784 2653 2509 406.5 21.4 496 6453 0.15 1.25 0.00 0.000 5126 0.312 0.083 2876 3058 2576 2646 2507 0 0 0 0 0 0 14.42 14.57 28.83

6776 0.87 145.9 2877 3058 2647 2508 349.8 16.9 512 6784 0.00 1.33 0.00 0.000 260 0.000 0.125 2872 3780 2577 2647 2507 0 0 0 0 0 0 28.83 14.54 28.83

6893 0.87 145.9 2877 3780 2648 2507 328.2 18.3 535 6902 0.00 1.25 0.00 0.000 1030 0.000 0.082 2882 3048 2576 2646 2507 0 0 0 0 0 0 28.83 14.59 28.83

7199 0.87 145.9 2883 3049 2647 2508 276.1 16.9 546 7206 0.00 1.35 0.00 0.000 260 0.000 0.127 2882 3786 2577 2647 2507 0 0 0 0 0 0 28.83 14.58 28.83

7301 0.87 145.9 2883 3787 2648 2508 257.7 18.1 566 7308 0.00 1.25 0.00 0.000 1030 0.000 0.083 2887 3054 2577 2647 2507 0 0 0 0 0 0 28.83 14.62 28.83

7612 0.87 145.9 2888 3054 2647 2508 207.3 15.6 597 7621 0.00 1.35 0.00 0.000 260 0.000 0.126 2887 3787 2577 2647 2507 0 0 0 0 0 0 28.83 14.57 28.83

7735 0.87 145.9 2888 3788 2647 2508 187.4 15.2 621 7745 0.00 1.25 0.00 0.000 1030 0.000 0.084 2893 3057 2577 2647 2507 0 0 0 0 0 0 28.83 14.61 28.83

8050 0.90 156.5 2894 3058 2647 2508 150.5 10.6 653 8064 0.00 0.00 4.35 1.325 8198 0.000 0.000 2893 3056 2557 2636 2478 0 0 0 0 0 0 28.83 28.83 13.97

8360 0.94 185.7 2894 3058 2647 2479 121.1 8.7 684 8395 0.00 1.40 29.05 1.101 8452 0.000 0.127 2893 3790 2423 2498 2348 0 0 0 0 0 0 28.83 14.37 13.98

8619 0.95 192.9 2894 3791 2488 2344 91.4 10.9 734 8627 0.00 1.30 2.08 0.265 9222 0.000 0.084 2898 3047 2402 2479 2325 0 0 0 0 0 0 28.83 14.47 14.27

8932 1.02 230.7 2899 3047 2499 2325 62.3 7.8 766 8961 0.00 1.40 21.20 0.367 8452 0.000 0.132 2899 3783 2246 2322 2171 0 0 0 0 0 0 28.83 14.40 14.32

9185 1.09 286.8 2900 3784 2330 2172 41.9 6.0 815 9223 0.08 1.27 30.23 0.301 11270 0.102 0.085 2950 3048 2018 2088 1948 0 0 0 0 0 0 14.50 14.50 14.33

9517 1.17 325.0 2951 3048 2096 1949 11.8 7.8 850 9550 0.00 2.45 20.75 0.213 8708 0.000 0.086 2959 1642 1863 1933 1793 0 0 0 0 0 0 28.83 14.47 14.40

9744 end climb: NO_VERTICAL_VELOCITY

state 9744 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	52	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	35	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	14	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	-3388.3274	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	020814,165724,7135.661,-14409.810,35,0.9,55,22.6	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	336.6,769,-30.9,-11.628,-35.00,1025
_SM_ANGLEo	-74.4	D_GRID	1000
GPS2	020814,171046,7135.588,-14409.828,6,0.8,26,22.6

FREEZE	11.65,3.126,-1.488,0,1,0	_10V_AH	12.67,0.000
SM_CCo	9747,180.70,0.207,0,0,499,659.37	FG_AHR_24Vo	0.000
SM_GC	2.17,8.27,1.90,0.00,0.100,0.118,0.000,204,2678,489,-7.40,-0.65,661.57,0,0,0,0,0,0,14.50,14.45,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	637	MEM	288716
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	30029,893
IRIDIUM_FIX	7058.96,-14406.37,020814,133252	CAP_FILE_SIZE	136121,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2079752192
HUMID	52.00	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
INTERNAL_PRESSURE	8.56402	INTR	0,12658.86,0x2378b6,7,5
TCM_TEMP	12.10	SOUNDSPEED	1450.8
XPDR_PINGS	0	EKF	10276,4296.793457,-8650.416016,11.646286,-0.017130,0.018223,-0.005538,0.000172,0.001724,0.000095,0.001525,0.001525,0.000034
SC_FREEKB	3997088	CURRENT	0.047,262.64,1
TM_FREEKB	7158784	GPS	020814,200218,7136.755,-14411.215,35,0.9,55,22.6
_24V_AH	12.78,18.580

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	455	127.40	nil	0	0	0.00
Roll_motor	47	131	79.79	nil	0	0	0.00
VBD_pump_during_apogee	374	2467	11805.57	nil	0	0	0.00
VBD_pump_during_surface	180	206	477.00	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	9775	12	1570.68
Iridium_during_xfer	509	203	1324.88	TMICL	9850	13	1675.13
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	7560	2	221.27
TT8_Active	715	8	79.17
TT8_Sampling	2599	28	928.80
TT8_CF8	103	35	47.02
TT8_Kalman	0	0	0.00
Analog_circuits	1978	10	250.71
GPS_charging	0	0	0.00
Compass	1323	0	12.58
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.91	-77.4	198	2676	474	528	0.0	0.0	0	74	0.00	0.00	-52.72	0.000	16386	0.000	0.000	197	2676	1853	1873	1834	0	0	0	0	0	0	28.83	28.83	28.83
76	-0.96	-145.9	198	2676	1875	1835	3.6	-4.0	5	131	10.70	2.47	-36.53	0.000	18948	0.455	0.107	2273	1272	3780	3845	3716	0	0	0	0	0	0	14.10	14.32	14.50
310	-0.96	-145.9	2274	1271	3846	3729	59.0	-22.6	49	320	0.00	2.50	0.00	0.000	1030	0.000	0.107	2265	2682	3783	3845	3722	0	0	0	0	0	0	28.83	14.34	28.83
624	-0.96	-145.9	2265	2683	3846	3723	129.4	-21.2	81	633	0.00	2.40	0.00	0.000	516	0.000	0.080	2265	1267	3783	3845	3722	0	0	0	0	0	0	28.83	14.48	28.83
642	-0.96	-145.9	2265	1266	3846	3722	133.2	-21.3	84	652	0.00	2.53	0.00	0.000	1030	0.000	0.112	2262	2688	3783	3845	3721	0	0	0	0	0	0	28.83	14.45	28.83
947	-0.96	-145.9	2265	2689	3846	3725	193.5	-18.3	115	949	0.00	0.00	0.00	0.000	6	0.000	0.000	2264	2688	3783	3845	3722	0	0	0	0	0	0	28.83	28.83	28.83
1247	-0.99	-145.9	2265	2686	3846	3722	243.3	-16.1	145	1256	0.00	1.98	0.00	0.000	260	0.000	0.130	2264	3790	3784	3849	3720	0	0	0	0	0	0	28.83	14.50	28.83
1315	-0.99	-145.9	2265	3791	3846	3721	255.2	-17.8	158	1323	0.00	1.90	0.00	0.000	1030	0.000	0.078	2264	2676	3782	3845	3719	0	0	0	0	0	0	28.83	14.55	28.83
1643	-1.02	-145.9	2265	2676	3846	3719	306.6	-15.5	173	1645	0.00	0.00	0.00	0.000	6	0.000	0.000	2264	2676	3782	3845	3719	0	0	0	0	0	0	28.83	28.83	28.83
1942	-1.05	-145.9	2265	2677	3845	3719	352.0	-14.9	183	1945	0.00	0.00	0.00	0.000	6	0.000	0.000	2260	2675	3781	3845	3718	0	0	0	0	0	0	28.83	28.83	28.83
2242	-1.09	-145.9	2265	2676	3846	3717	396.5	-14.8	193	2246	0.00	0.00	0.00	0.000	6	0.000	0.000	2264	2676	3779	3845	3713	0	0	0	0	0	0	28.83	28.83	28.83
2542	-1.13	-145.9	2265	2676	3846	3716	440.9	-14.7	203	2545	0.12	0.00	0.00	0.000	4102	0.164	0.000	2215	2676	3780	3845	3715	0	0	0	0	0	0	14.63	28.83	28.83
2842	-1.13	-145.9	2216	2676	3846	3715	491.3	-16.9	213	2844	0.00	0.00	0.00	0.000	6	0.000	0.000	2216	2676	3780	3845	3715	0	0	0	0	0	0	28.83	28.83	28.83
3142	-1.13	-145.9	2216	2676	3845	3715	541.5	-16.8	223	3145	0.00	0.00	0.00	0.000	6	0.000	0.000	2216	2676	3780	3845	3715	0	0	0	0	0	0	28.83	28.83	28.83
3442	-1.13	-145.9	2217	2677	3845	3716	591.0	-16.4	233	3452	0.00	2.35	0.00	0.000	516	0.000	0.088	2216	1272	3779	3844	3714	0	0	0	0	0	0	28.83	14.66	28.83
3491	-1.13	-145.9	2217	1273	3845	3716	598.9	-15.5	242	3499	0.00	2.47	0.00	0.000	1030	0.000	0.113	2208	2681	3780	3845	3715	0	0	0	0	0	0	28.83	14.63	28.83
3809	-1.13	-145.9	2209	2682	3845	3715	651.9	-16.8	255	3812	0.00	0.00	0.00	0.000	6	0.000	0.000	2208	2681	3779	3844	3714	0	0	0	0	0	0	28.83	28.83	28.83
4108	-1.13	-145.9	2208	2681	3845	3715	702.1	-16.6	265	4111	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	2681	3779	3844	3714	0	0	0	0	0	0	28.83	28.83	28.83
4407	end dive: TARGET_DEPTH_EXCEEDED
state	4408	begin apogee
4411	-0.14	0.0	2207	3059	3845	3714	751.8	-16.5	275	4563	1.33	0.00	138.57	2.467	10246	0.327	0.000	2535	3059	3191	3282	3100	0	0	0	0	1	0	14.52	28.83	12.78
4565	end apogee: CONTROL_FINISHED_OK
state	4565	begin climb
4566	0.96	145.9	2537	3060	3287	3104	756.7	0.0	280	4709	1.25	1.45	128.20	1.787	10500	0.181	0.122	2892	3780	2585	2657	2514	0	0	0	0	0	0	13.74	13.48	12.92
4933	0.96	145.9	2893	3781	2648	2510	698.7	20.0	346	4940	0.00	1.30	0.00	0.000	1030	0.000	0.080	2898	3055	2578	2647	2509	0	0	0	0	0	0	28.83	14.02	28.83
5265	0.96	145.9	2898	3056	2648	2509	637.3	18.4	362	5273	0.00	1.38	0.00	0.000	260	0.000	0.125	2897	3787	2580	2653	2508	0	0	0	0	0	0	28.83	14.23	28.83
5477	0.94	145.9	2898	3787	2643	2508	594.4	20.1	404	5484	0.00	1.30	0.00	0.000	1030	0.000	0.081	2903	3044	2577	2647	2508	0	0	0	0	0	0	28.83	14.37	28.83
5809	0.94	145.9	2904	3044	2648	2508	531.8	18.8	420	5816	0.00	1.38	0.00	0.000	260	0.000	0.126	2903	3786	2577	2647	2508	0	0	0	0	0	0	28.83	14.42	28.83
5970	0.90	145.9	2903	3786	2648	2508	498.4	20.3	452	5978	0.00	1.27	0.00	0.000	1030	0.000	0.082	2909	3047	2577	2647	2508	0	0	0	0	0	0	28.83	14.49	28.83
6292	0.90	145.9	2909	3048	2648	2508	437.8	18.5	466	6300	0.00	1.35	0.00	0.000	260	0.000	0.125	2909	3783	2577	2647	2508	0	0	0	0	0	0	28.83	14.50	28.83
6444	0.87	145.9	2909	3784	2653	2509	406.5	21.4	496	6453	0.15	1.25	0.00	0.000	5126	0.312	0.083	2876	3058	2576	2646	2507	0	0	0	0	0	0	14.42	14.57	28.83
6776	0.87	145.9	2877	3058	2647	2508	349.8	16.9	512	6784	0.00	1.33	0.00	0.000	260	0.000	0.125	2872	3780	2577	2647	2507	0	0	0	0	0	0	28.83	14.54	28.83
6893	0.87	145.9	2877	3780	2648	2507	328.2	18.3	535	6902	0.00	1.25	0.00	0.000	1030	0.000	0.082	2882	3048	2576	2646	2507	0	0	0	0	0	0	28.83	14.59	28.83
7199	0.87	145.9	2883	3049	2647	2508	276.1	16.9	546	7206	0.00	1.35	0.00	0.000	260	0.000	0.127	2882	3786	2577	2647	2507	0	0	0	0	0	0	28.83	14.58	28.83
7301	0.87	145.9	2883	3787	2648	2508	257.7	18.1	566	7308	0.00	1.25	0.00	0.000	1030	0.000	0.083	2887	3054	2577	2647	2507	0	0	0	0	0	0	28.83	14.62	28.83
7612	0.87	145.9	2888	3054	2647	2508	207.3	15.6	597	7621	0.00	1.35	0.00	0.000	260	0.000	0.126	2887	3787	2577	2647	2507	0	0	0	0	0	0	28.83	14.57	28.83
7735	0.87	145.9	2888	3788	2647	2508	187.4	15.2	621	7745	0.00	1.25	0.00	0.000	1030	0.000	0.084	2893	3057	2577	2647	2507	0	0	0	0	0	0	28.83	14.61	28.83
8050	0.90	156.5	2894	3058	2647	2508	150.5	10.6	653	8064	0.00	0.00	4.35	1.325	8198	0.000	0.000	2893	3056	2557	2636	2478	0	0	0	0	0	0	28.83	28.83	13.97
8360	0.94	185.7	2894	3058	2647	2479	121.1	8.7	684	8395	0.00	1.40	29.05	1.101	8452	0.000	0.127	2893	3790	2423	2498	2348	0	0	0	0	0	0	28.83	14.37	13.98
8619	0.95	192.9	2894	3791	2488	2344	91.4	10.9	734	8627	0.00	1.30	2.08	0.265	9222	0.000	0.084	2898	3047	2402	2479	2325	0	0	0	0	0	0	28.83	14.47	14.27
8932	1.02	230.7	2899	3047	2499	2325	62.3	7.8	766	8961	0.00	1.40	21.20	0.367	8452	0.000	0.132	2899	3783	2246	2322	2171	0	0	0	0	0	0	28.83	14.40	14.32
9185	1.09	286.8	2900	3784	2330	2172	41.9	6.0	815	9223	0.08	1.27	30.23	0.301	11270	0.102	0.085	2950	3048	2018	2088	1948	0	0	0	0	0	0	14.50	14.50	14.33
9517	1.17	325.0	2951	3048	2096	1949	11.8	7.8	850	9550	0.00	2.45	20.75	0.213	8708	0.000	0.086	2959	1642	1863	1933	1793	0	0	0	0	0	0	28.83	14.47	14.40
9744	end climb: NO_VERTICAL_VELOCITY
state	9744	begin surface