Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 32 * 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 32 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 31 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 17 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 648.87579 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.44999999

D_ABORT 600 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 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 140 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 180 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -3362.7664 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 0.0043931045

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 2600 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 2800 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 500 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 140

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 198 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -3362.7664

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 180

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 71 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_DEG 40 T_TURN 225

C_PITCH 2600 LOGGERDEVICE4 -1 ROLL_MAX 3790 T_TURN_SAMPINT -5

C_ROLL_CLIMB 3050 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2800 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 31 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 32 N_FILEKB 8 SEABIRD_C_J 0.00020143802 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 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 300714,133024,7106.451,-14426.714,39,0.9,59,22.4 SPEED_LIMITS 0.170,0.235

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.95 MHEAD_RNG_PITCHd_Wd 346.1,55489,-21.9,-11.905,-26.85,1887

_SM_ANGLEo -73.3 D_GRID 1000

GPS2 300714,134051,7106.500,-14426.585,4,0.9,24,22.4

Post-dive calculations and measurements:

FINISH 1.1,1.009459 _10V_AH 12.62,0.000

SM_CCo 8977,0.00,0.000,0,0,502,658.39 FG_AHR_24Vo 0.000

SM_GC 2.31,8.55,0.45,0.00,0.098,0.091,0.000,205,2792,502,-7.42,0.74,658.39,0,0,0,0,0,0,14.35,14.35,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 48 MEM 298428

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26742,754

IRIDIUM_FIX 7032.78,-14420.80,300714,105053 CAP_FILE_SIZE 127593,0

TT8_MAMPS 0.081641,0.081641 CFSIZE 2097872896,2086010880

HUMID 50.63 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.58355 INTR 0,9797.46,0x2378b6,7,5

TCM_TEMP 12.60 SOUNDSPEED 1450.2

XPDR_PINGS 0 EKF 9072,4267.575195,-8666.177734,1.086508,0.801685,-0.147994,0.014134,0.000143,0.001363,0.000099,0.000025,0.000025,0.000050

SC_FREEKB 4006048 CURRENT 0.011,75.55,1

TM_FREEKB 7556608 GPS 300714,161218,7107.667,-14426.058,37,0.8,57,22.4

_24V_AH 12.67,11.230

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 470 135.46 nil 0 0 0.00

Roll_motor 60 139 106.90 nil 0 0 0.00

VBD_pump_during_apogee 618 2649 20750.07 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 8919 15 1700.82

Iridium_during_xfer 390 200 990.58 TMICL 8974 13 1511.88

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 0 0.25

TT8 0 0 0.00

LPSleep 6567 2 191.47

TT8_Active 747 8 82.30

TT8_Sampling 2210 28 786.71

TT8_CF8 79 35 35.85

TT8_Kalman 0 0 0.00

Analog_circuits 1835 10 231.60

GPS_charging 0 0 0.00

Compass 1119 0 10.59

RAFOS 1496 48 906.22

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

18 -0.71 -145.9 204 2794 467 534 0.0 0.0 0 85 0.00 0.00 -63.60 0.000 16386 0.000 0.000 203 2794 2123 2168 2078 0 0 0 0 0 0 28.83 28.83 28.83

87 -0.71 -145.9 203 2794 2170 2078 3.8 -4.1 6 135 11.43 0.00 -29.88 0.000 19206 0.470 0.000 2363 2793 3785 3882 3688 0 0 0 0 0 0 14.15 28.83 14.53

429 -0.67 -145.9 2364 2794 3881 3696 77.8 -17.5 43 432 0.00 0.00 0.00 0.000 6 0.000 0.000 2363 2793 3787 3880 3695 0 0 0 0 0 0 28.83 28.83 28.83

729 -0.67 -145.9 2363 2793 3881 3696 127.4 -16.0 73 738 0.00 2.38 0.00 0.000 516 0.000 0.086 2363 1392 3787 3879 3695 0 0 0 0 0 0 28.83 14.50 28.83

812 -0.67 -145.9 2364 1393 3880 3696 139.5 -14.1 89 823 0.00 2.53 0.00 0.000 1030 0.000 0.118 2361 2802 3786 3878 3695 0 0 0 0 0 0 28.83 14.48 28.83

1127 -0.67 -145.9 2362 2803 3879 3696 183.5 -13.1 121 1136 0.00 2.40 0.00 0.000 516 0.000 0.085 2360 1387 3786 3878 3695 0 0 0 0 0 0 28.83 14.54 28.83

1225 -0.67 -145.9 2362 1387 3878 3696 195.1 -11.0 140 1235 0.00 2.53 0.00 0.000 1030 0.000 0.118 2360 2800 3786 3878 3695 0 0 0 0 0 0 28.83 14.51 28.83

1531 -0.67 -145.9 2362 2801 3877 3696 230.1 -11.2 171 1533 0.00 0.00 0.00 0.000 6 0.000 0.000 2360 2800 3786 3877 3695 0 0 0 0 0 0 28.83 28.83 28.83

1830 -0.67 -145.9 2361 2801 3875 3696 263.1 -10.5 193 1840 0.00 2.38 0.00 0.000 516 0.000 0.085 2360 1391 3785 3875 3695 0 0 0 0 0 0 28.83 14.55 28.83

1929 -0.69 -145.9 2361 1391 3874 3695 273.0 -10.1 212 1937 0.00 2.50 0.00 0.000 1030 0.000 0.119 2360 2801 3783 3871 3695 0 0 0 0 0 0 28.83 14.55 28.83

2256 -0.69 -145.9 2361 2801 3873 3695 306.5 -10.3 227 2264 0.00 2.38 0.00 0.000 516 0.000 0.083 2360 1387 3783 3871 3695 0 0 0 0 0 0 28.83 14.61 28.83

2308 -0.72 -145.9 2361 1387 3872 3702 311.9 -10.1 237 2318 0.00 2.53 0.00 0.000 1030 0.000 0.119 2360 2809 3783 3871 3695 0 0 0 0 0 0 28.83 14.61 28.83

2623 -0.72 -145.9 2361 2810 3868 3696 343.3 -10.1 249 2626 0.00 0.00 0.00 0.000 6 0.000 0.000 2360 2809 3782 3870 3695 0 0 0 0 0 0 28.83 28.83 28.83

2922 -0.75 -145.9 2361 2810 3872 3694 373.3 -10.1 259 2931 0.00 2.40 0.00 0.000 516 0.000 0.084 2360 1385 3782 3870 3695 0 0 0 0 0 0 28.83 14.64 28.83

3010 -0.78 -145.9 2361 1385 3872 3695 381.8 -9.5 276 3019 0.00 2.53 0.00 0.000 1030 0.000 0.119 2360 2799 3782 3870 3695 0 0 0 0 0 0 28.83 14.60 28.83

3316 -0.80 -145.9 2361 2800 3871 3696 411.4 -9.7 287 3318 0.00 0.00 0.00 0.000 6 0.000 0.000 2360 2798 3782 3870 3695 0 0 0 0 0 0 28.83 28.83 28.83

3615 -0.82 -145.9 2361 2801 3871 3696 440.0 -9.6 297 3625 0.00 2.35 0.00 0.000 516 0.000 0.082 2361 1390 3780 3865 3695 0 0 0 0 0 0 28.83 14.65 28.83

3689 -0.86 -145.9 2361 1391 3870 3695 447.0 -9.2 311 3698 0.12 2.50 0.00 0.000 5126 0.165 0.119 2311 2805 3786 3869 3703 0 0 0 0 0 0 14.66 14.62 28.83

4012 -0.86 -145.9 2312 2805 3870 3695 485.7 -12.2 325 4021 0.00 2.38 0.00 0.000 516 0.000 0.082 2311 1389 3782 3869 3695 0 0 0 0 0 0 28.83 14.66 28.83

4080 -0.86 -145.9 2312 1390 3870 3696 493.8 -10.9 338 4088 0.00 2.50 0.00 0.000 1030 0.000 0.116 2304 2805 3782 3869 3695 0 0 0 0 0 0 28.83 14.59 28.83

4136 end dive: TARGET_DEPTH_EXCEEDED

state 4136 begin apogee

4139 -0.14 0.0 2305 3053 3870 3695 500.6 -12.4 344 4292 0.95 0.00 143.70 2.649 10246 0.301 0.000 2547 3053 3186 3266 3106 0 0 0 0 1 0 14.53 28.83 12.67

4295 end apogee: CONTROL_FINISHED_OK

state 4295 begin climb

4296 0.71 145.9 2549 3054 3280 3104 504.8 0.0 349 4441 0.98 1.40 128.52 1.533 10500 0.188 0.119 2820 3788 2579 2645 2513 0 0 0 0 0 0 13.67 13.55 13.06

4515 0.66 145.9 2821 3788 2640 2508 483.5 15.1 385 4526 0.00 1.35 0.00 0.000 1030 0.000 0.079 2825 3044 2573 2638 2508 0 0 0 0 0 0 28.83 13.86 28.83

4851 0.63 145.9 2825 3044 2637 2506 436.9 13.9 401 4854 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 3044 2572 2638 2507 0 0 0 0 0 0 28.83 28.83 28.83

5150 0.60 145.9 2826 3045 2639 2507 395.7 13.8 411 5158 0.00 1.38 0.00 0.000 260 0.000 0.127 2825 3783 2572 2638 2506 0 0 0 0 0 0 28.83 14.32 28.83

5237 0.55 145.9 2826 3783 2640 2506 382.6 15.3 428 5246 0.17 1.27 0.00 0.000 5126 0.268 0.080 2783 3049 2572 2638 2506 0 0 0 0 0 0 14.26 14.39 28.83

5542 0.55 155.7 2785 3050 2639 2507 347.1 11.4 439 5548 0.00 0.00 2.92 0.773 8198 0.000 0.000 2784 3050 2550 2619 2482 0 0 0 0 0 0 28.83 28.83 13.79

5842 0.56 169.4 2785 3050 2648 2483 313.7 11.2 449 5865 0.00 0.00 18.48 1.310 8198 0.000 0.000 2784 3049 2493 2566 2421 0 0 0 0 0 0 28.83 28.83 13.92

6142 0.57 170.9 2785 3050 2549 2409 278.6 11.8 459 6145 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 3050 2477 2544 2410 0 0 0 0 0 0 28.83 28.83 28.83

6442 0.57 181.6 2785 3049 2548 2410 243.7 11.3 471 6462 0.00 2.42 10.20 1.224 8708 0.000 0.082 2794 1642 2437 2507 2367 0 0 0 0 0 0 28.83 14.42 14.01

6466 0.58 185.3 2794 1643 2507 2366 241.0 11.7 474 6474 0.00 2.50 0.00 0.000 1030 0.000 0.113 2793 3052 2434 2504 2365 0 0 0 0 0 0 28.83 14.45 28.83

6778 0.58 194.2 2795 3053 2496 2365 204.3 11.4 506 6793 0.00 0.00 10.70 1.187 8198 0.000 0.000 2794 3052 2393 2463 2324 0 0 0 0 0 0 28.83 28.83 14.00

7088 0.60 219.4 2795 3053 2452 2317 169.9 10.5 537 7118 0.00 0.00 23.67 1.120 8710 0.000 0.000 2793 3052 2282 2349 2215 0 0 0 0 0 0 28.83 28.83 13.95

7422 0.67 274.4 2794 3052 2337 2207 138.1 8.9 571 7478 0.00 2.53 48.55 1.043 8708 0.000 0.082 2804 1633 2057 2121 1994 0 0 0 0 0 0 28.83 14.22 13.85

7572 0.77 327.6 2805 1633 2107 1987 124.3 9.0 598 7628 0.12 2.55 47.45 1.001 11270 0.148 0.115 2857 3049 1842 1900 1784 0 0 0 0 0 0 14.30 14.26 13.75

7932 0.77 327.6 2858 3049 1880 1765 77.2 12.5 637 7934 0.00 0.00 0.00 0.000 6 0.000 0.000 2858 3049 1822 1879 1765 0 0 0 0 0 0 28.83 28.83 28.83

8232 0.85 386.2 2858 3050 1880 1764 44.3 8.7 667 8273 0.00 2.47 29.88 0.291 8708 0.000 0.083 2863 1637 1617 1681 1554 0 0 0 0 0 0 28.83 14.38 14.29

8307 0.96 444.5 2863 1637 1696 1553 37.7 8.7 678 8350 0.15 2.53 34.60 0.273 11270 0.138 0.116 2925 3054 1373 1424 1322 0 0 0 0 0 0 14.41 14.37 14.21

8654 1.15 639.2 2924 3049 1448 1322 12.8 1.3 715 8770 0.12 2.50 106.93 0.204 10756 0.158 0.081 2988 1642 578 541 616 0 0 0 0 0 0 14.36 14.26 14.23

8849 1.34 755.2 2989 1642 555 616 3.1 5.6 748 8873 0.12 2.55 12.60 0.182 11270 0.163 0.118 3028 3053 499 467 531 0 0 0 0 0 0 14.32 14.31 14.22

8876 end climb: SURFACE_DEPTH_REACHED

state 8876 begin surface coast

8897 end surface coast: CONTROL_FINISHED_OK

state 8897 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	32	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	31	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	17	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	648.87579	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.44999999
D_ABORT	600	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	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	140	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	180	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-3362.7664	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	0.0043931045
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	2600	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	2800	ALTIM_PING_DELTA	5

GPS1	300714,133024,7106.451,-14426.714,39,0.9,59,22.4	SPEED_LIMITS	0.170,0.235
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.95	MHEAD_RNG_PITCHd_Wd	346.1,55489,-21.9,-11.905,-26.85,1887
_SM_ANGLEo	-73.3	D_GRID	1000
GPS2	300714,134051,7106.500,-14426.585,4,0.9,24,22.4

FINISH	1.1,1.009459	_10V_AH	12.62,0.000
SM_CCo	8977,0.00,0.000,0,0,502,658.39	FG_AHR_24Vo	0.000
SM_GC	2.31,8.55,0.45,0.00,0.098,0.091,0.000,205,2792,502,-7.42,0.74,658.39,0,0,0,0,0,0,14.35,14.35,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	48	MEM	298428
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26742,754
IRIDIUM_FIX	7032.78,-14420.80,300714,105053	CAP_FILE_SIZE	127593,0
TT8_MAMPS	0.081641,0.081641	CFSIZE	2097872896,2086010880
HUMID	50.63	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.58355	INTR	0,9797.46,0x2378b6,7,5
TCM_TEMP	12.60	SOUNDSPEED	1450.2
XPDR_PINGS	0	EKF	9072,4267.575195,-8666.177734,1.086508,0.801685,-0.147994,0.014134,0.000143,0.001363,0.000099,0.000025,0.000025,0.000050
SC_FREEKB	4006048	CURRENT	0.011,75.55,1
TM_FREEKB	7556608	GPS	300714,161218,7107.667,-14426.058,37,0.8,57,22.4
_24V_AH	12.67,11.230

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	470	135.46	nil	0	0	0.00
Roll_motor	60	139	106.90	nil	0	0	0.00
VBD_pump_during_apogee	618	2649	20750.07	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	8919	15	1700.82
Iridium_during_xfer	390	200	990.58	TMICL	8974	13	1511.88
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	0	0.25
TT8	0	0	0.00
LPSleep	6567	2	191.47
TT8_Active	747	8	82.30
TT8_Sampling	2210	28	786.71
TT8_CF8	79	35	35.85
TT8_Kalman	0	0	0.00
Analog_circuits	1835	10	231.60
GPS_charging	0	0	0.00
Compass	1119	0	10.59
RAFOS	1496	48	906.22
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
18	-0.71	-145.9	204	2794	467	534	0.0	0.0	0	85	0.00	0.00	-63.60	0.000	16386	0.000	0.000	203	2794	2123	2168	2078	0	0	0	0	0	0	28.83	28.83	28.83
87	-0.71	-145.9	203	2794	2170	2078	3.8	-4.1	6	135	11.43	0.00	-29.88	0.000	19206	0.470	0.000	2363	2793	3785	3882	3688	0	0	0	0	0	0	14.15	28.83	14.53
429	-0.67	-145.9	2364	2794	3881	3696	77.8	-17.5	43	432	0.00	0.00	0.00	0.000	6	0.000	0.000	2363	2793	3787	3880	3695	0	0	0	0	0	0	28.83	28.83	28.83
729	-0.67	-145.9	2363	2793	3881	3696	127.4	-16.0	73	738	0.00	2.38	0.00	0.000	516	0.000	0.086	2363	1392	3787	3879	3695	0	0	0	0	0	0	28.83	14.50	28.83
812	-0.67	-145.9	2364	1393	3880	3696	139.5	-14.1	89	823	0.00	2.53	0.00	0.000	1030	0.000	0.118	2361	2802	3786	3878	3695	0	0	0	0	0	0	28.83	14.48	28.83
1127	-0.67	-145.9	2362	2803	3879	3696	183.5	-13.1	121	1136	0.00	2.40	0.00	0.000	516	0.000	0.085	2360	1387	3786	3878	3695	0	0	0	0	0	0	28.83	14.54	28.83
1225	-0.67	-145.9	2362	1387	3878	3696	195.1	-11.0	140	1235	0.00	2.53	0.00	0.000	1030	0.000	0.118	2360	2800	3786	3878	3695	0	0	0	0	0	0	28.83	14.51	28.83
1531	-0.67	-145.9	2362	2801	3877	3696	230.1	-11.2	171	1533	0.00	0.00	0.00	0.000	6	0.000	0.000	2360	2800	3786	3877	3695	0	0	0	0	0	0	28.83	28.83	28.83
1830	-0.67	-145.9	2361	2801	3875	3696	263.1	-10.5	193	1840	0.00	2.38	0.00	0.000	516	0.000	0.085	2360	1391	3785	3875	3695	0	0	0	0	0	0	28.83	14.55	28.83
1929	-0.69	-145.9	2361	1391	3874	3695	273.0	-10.1	212	1937	0.00	2.50	0.00	0.000	1030	0.000	0.119	2360	2801	3783	3871	3695	0	0	0	0	0	0	28.83	14.55	28.83
2256	-0.69	-145.9	2361	2801	3873	3695	306.5	-10.3	227	2264	0.00	2.38	0.00	0.000	516	0.000	0.083	2360	1387	3783	3871	3695	0	0	0	0	0	0	28.83	14.61	28.83
2308	-0.72	-145.9	2361	1387	3872	3702	311.9	-10.1	237	2318	0.00	2.53	0.00	0.000	1030	0.000	0.119	2360	2809	3783	3871	3695	0	0	0	0	0	0	28.83	14.61	28.83
2623	-0.72	-145.9	2361	2810	3868	3696	343.3	-10.1	249	2626	0.00	0.00	0.00	0.000	6	0.000	0.000	2360	2809	3782	3870	3695	0	0	0	0	0	0	28.83	28.83	28.83
2922	-0.75	-145.9	2361	2810	3872	3694	373.3	-10.1	259	2931	0.00	2.40	0.00	0.000	516	0.000	0.084	2360	1385	3782	3870	3695	0	0	0	0	0	0	28.83	14.64	28.83
3010	-0.78	-145.9	2361	1385	3872	3695	381.8	-9.5	276	3019	0.00	2.53	0.00	0.000	1030	0.000	0.119	2360	2799	3782	3870	3695	0	0	0	0	0	0	28.83	14.60	28.83
3316	-0.80	-145.9	2361	2800	3871	3696	411.4	-9.7	287	3318	0.00	0.00	0.00	0.000	6	0.000	0.000	2360	2798	3782	3870	3695	0	0	0	0	0	0	28.83	28.83	28.83
3615	-0.82	-145.9	2361	2801	3871	3696	440.0	-9.6	297	3625	0.00	2.35	0.00	0.000	516	0.000	0.082	2361	1390	3780	3865	3695	0	0	0	0	0	0	28.83	14.65	28.83
3689	-0.86	-145.9	2361	1391	3870	3695	447.0	-9.2	311	3698	0.12	2.50	0.00	0.000	5126	0.165	0.119	2311	2805	3786	3869	3703	0	0	0	0	0	0	14.66	14.62	28.83
4012	-0.86	-145.9	2312	2805	3870	3695	485.7	-12.2	325	4021	0.00	2.38	0.00	0.000	516	0.000	0.082	2311	1389	3782	3869	3695	0	0	0	0	0	0	28.83	14.66	28.83
4080	-0.86	-145.9	2312	1390	3870	3696	493.8	-10.9	338	4088	0.00	2.50	0.00	0.000	1030	0.000	0.116	2304	2805	3782	3869	3695	0	0	0	0	0	0	28.83	14.59	28.83
4136	end dive: TARGET_DEPTH_EXCEEDED
state	4136	begin apogee
4139	-0.14	0.0	2305	3053	3870	3695	500.6	-12.4	344	4292	0.95	0.00	143.70	2.649	10246	0.301	0.000	2547	3053	3186	3266	3106	0	0	0	0	1	0	14.53	28.83	12.67
4295	end apogee: CONTROL_FINISHED_OK
state	4295	begin climb
4296	0.71	145.9	2549	3054	3280	3104	504.8	0.0	349	4441	0.98	1.40	128.52	1.533	10500	0.188	0.119	2820	3788	2579	2645	2513	0	0	0	0	0	0	13.67	13.55	13.06
4515	0.66	145.9	2821	3788	2640	2508	483.5	15.1	385	4526	0.00	1.35	0.00	0.000	1030	0.000	0.079	2825	3044	2573	2638	2508	0	0	0	0	0	0	28.83	13.86	28.83
4851	0.63	145.9	2825	3044	2637	2506	436.9	13.9	401	4854	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	3044	2572	2638	2507	0	0	0	0	0	0	28.83	28.83	28.83
5150	0.60	145.9	2826	3045	2639	2507	395.7	13.8	411	5158	0.00	1.38	0.00	0.000	260	0.000	0.127	2825	3783	2572	2638	2506	0	0	0	0	0	0	28.83	14.32	28.83
5237	0.55	145.9	2826	3783	2640	2506	382.6	15.3	428	5246	0.17	1.27	0.00	0.000	5126	0.268	0.080	2783	3049	2572	2638	2506	0	0	0	0	0	0	14.26	14.39	28.83
5542	0.55	155.7	2785	3050	2639	2507	347.1	11.4	439	5548	0.00	0.00	2.92	0.773	8198	0.000	0.000	2784	3050	2550	2619	2482	0	0	0	0	0	0	28.83	28.83	13.79
5842	0.56	169.4	2785	3050	2648	2483	313.7	11.2	449	5865	0.00	0.00	18.48	1.310	8198	0.000	0.000	2784	3049	2493	2566	2421	0	0	0	0	0	0	28.83	28.83	13.92
6142	0.57	170.9	2785	3050	2549	2409	278.6	11.8	459	6145	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	3050	2477	2544	2410	0	0	0	0	0	0	28.83	28.83	28.83
6442	0.57	181.6	2785	3049	2548	2410	243.7	11.3	471	6462	0.00	2.42	10.20	1.224	8708	0.000	0.082	2794	1642	2437	2507	2367	0	0	0	0	0	0	28.83	14.42	14.01
6466	0.58	185.3	2794	1643	2507	2366	241.0	11.7	474	6474	0.00	2.50	0.00	0.000	1030	0.000	0.113	2793	3052	2434	2504	2365	0	0	0	0	0	0	28.83	14.45	28.83
6778	0.58	194.2	2795	3053	2496	2365	204.3	11.4	506	6793	0.00	0.00	10.70	1.187	8198	0.000	0.000	2794	3052	2393	2463	2324	0	0	0	0	0	0	28.83	28.83	14.00
7088	0.60	219.4	2795	3053	2452	2317	169.9	10.5	537	7118	0.00	0.00	23.67	1.120	8710	0.000	0.000	2793	3052	2282	2349	2215	0	0	0	0	0	0	28.83	28.83	13.95
7422	0.67	274.4	2794	3052	2337	2207	138.1	8.9	571	7478	0.00	2.53	48.55	1.043	8708	0.000	0.082	2804	1633	2057	2121	1994	0	0	0	0	0	0	28.83	14.22	13.85
7572	0.77	327.6	2805	1633	2107	1987	124.3	9.0	598	7628	0.12	2.55	47.45	1.001	11270	0.148	0.115	2857	3049	1842	1900	1784	0	0	0	0	0	0	14.30	14.26	13.75
7932	0.77	327.6	2858	3049	1880	1765	77.2	12.5	637	7934	0.00	0.00	0.00	0.000	6	0.000	0.000	2858	3049	1822	1879	1765	0	0	0	0	0	0	28.83	28.83	28.83
8232	0.85	386.2	2858	3050	1880	1764	44.3	8.7	667	8273	0.00	2.47	29.88	0.291	8708	0.000	0.083	2863	1637	1617	1681	1554	0	0	0	0	0	0	28.83	14.38	14.29
8307	0.96	444.5	2863	1637	1696	1553	37.7	8.7	678	8350	0.15	2.53	34.60	0.273	11270	0.138	0.116	2925	3054	1373	1424	1322	0	0	0	0	0	0	14.41	14.37	14.21
8654	1.15	639.2	2924	3049	1448	1322	12.8	1.3	715	8770	0.12	2.50	106.93	0.204	10756	0.158	0.081	2988	1642	578	541	616	0	0	0	0	0	0	14.36	14.26	14.23
8849	1.34	755.2	2989	1642	555	616	3.1	5.6	748	8873	0.12	2.55	12.60	0.182	11270	0.163	0.118	3028	3053	499	467	531	0	0	0	0	0	0	14.32	14.31	14.22
8876	end climb: SURFACE_DEPTH_REACHED
state	8876	begin surface coast
8897	end surface coast: CONTROL_FINISHED_OK
state	8897	begin surface