Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 150 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 ESCAPE_HEADING 180 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 150 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 22 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 17 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 669.66901 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.6

D_ABORT 800 N_FILEKB 8 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 2 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 9 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 1.75 N_NOCOMM 6 C_VBD 3230 DEVICE4 -1

D_SAFE 500 NOCOMM_ACTION 161 VBD_DBAND 2 DEVICE5 -1

D_CALL 4.5 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 5 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 1

SURFACE_URGENCY_TRY 10 CALL_TRIES 3 PITCH_VBD_SHIFT 0.001 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 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 2 PHONE_DEVICE 49

T_NO_W 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -21783.895 PITCH_W_GAIN 4 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 1 RAFOS_PEAK_OFFSET 1 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.079999998 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044001359

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00063958467

T_WATCHDOG 10 PITCH_MIN 200 MINV_10V 11 SEABIRD_T_I 2.6420161e-05

RELAUNCH 1 PITCH_MAX 3900 FG_AHR_10V 0 SEABIRD_T_J 3.2747387e-06

APOGEE_PITCH -5 C_PITCH 2435 FG_AHR_24V 0 SEABIRD_C_G -9.7531748

MAX_BUOY 180 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1147131

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -64.963387 SEABIRD_C_I -0.0015239087

GLIDE_SLOPE 40 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001159754 SEABIRD_C_J 0.00019379995

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 35.5 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54269 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 160 COMPASS_USE 4 TM_RECORDABOVE 2000.0

NAV_MODE 0 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 0 TM_LOGSAMPLE 0.0

HD_A 0.0031999999 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3771 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 2.1999999e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2360 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 750 PITCH_GAIN 35.5 SURFACE_URGENCY_FORCE 20

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3900 SURFACE_URGENCY_TRY 10

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 200 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 7100

ALTIM_PING_DEPTH 0 FILEMGR 2 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -14430

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 4 PITCH_W_GAIN 4 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 40 PRESSURE_SLOPE 0.0001159754 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -64.963387 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0031999999 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 2.1999999e-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 0.079999998 RAFOS_PEAK_OFFSET 1 T_GPS 3

CAPUPLOAD 0 ID 199 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -21783.895

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 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 360

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 2435 LOGGERDEVICE4 -1 ROLL_MAX 3771 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 1 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2360 MASS 54269 ROLL_MIN 218 UNCOM_BLEED 60

C_VBD 3230 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 180 R_PORT_OVSHOOT 22 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 17 USE_ICE 1

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 0 SEABIRD_C_G -9.7531748 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1147131 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0015239087 VBD_MIN 500

DIVE 150 N_FILEKB 8 SEABIRD_C_J 0.00019379995 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 800 N_GPS -20 SEABIRD_T_G 0.0044001359 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00063958467 VBD_TIMEOUT 720

D_CALL 4.5 N_NOSURFACE 0 SEABIRD_T_I 2.6420161e-05 W_ADJ_DBAND 2

D_FINISH 9 PHONE_DEVICE 49 SEABIRD_T_J 3.2747387e-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 669.66901

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 160814,121312,7231.330,-14555.868,67,0.8,87,22.2 SPEED_LIMITS 0.139,0.275

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7305.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.16 MHEAD_RNG_PITCHd_Wd 340.7,62351,-19.5,-11.628,-22.92,2318

_SM_ANGLEo -69.3 D_GRID 1000

GPS2 160814,121926,7231.377,-14555.921,6,0.8,26,22.2

Post-dive calculations and measurements:

FREEZE 1.30,3.097,-1.366,2,1,0 _24V_AH 12.49,111.491

FINISH 1.3,1.019996 _10V_AH 12.65,0.000

SM_CCo 11894,0.00,0.000,0,0,501,669.67 FG_AHR_24Vo 0.000

SM_GC 2.36,8.00,0.43,0.00,0.081,0.103,0.000,199,2366,501,-6.94,1.05,669.67,0,0,0,0,0,0,14.42,14.44,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 510 MEM 272156

RAFOS_FIX 7210.390625,-14553.904297,150814,000043,2,255,0.00 DATA_FILE_SIZE 30082,840

IRIDIUM_FIX 7153.15,-14550.84,160814,084022 CAP_FILE_SIZE 127042,0

TT8_MAMPS 0.053179,0.053179 CFSIZE 2097872896,2054553600

HUMID 52.20 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.53386 INTR 1,11895.81,0x2378b6,7,5

TCM_TEMP 12.00 SOUNDSPEED 1450.8

XPDR_PINGS 0 GPS 160814,153922,7232.964,-14556.086,26,0.7,46,22.2

SC_FREEKB 3999960

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 468 126.07 nil 0 0 0.00

Roll_motor 44 143 79.89 nil 0 0 0.00

VBD_pump_during_apogee 650 1865 15150.31 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 11917 12 1817.23

Iridium_during_xfer 207 176 458.76 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.23

TT8 0 0 0.00

LPSleep 9521 2 278.24

TT8_Active 702 10 97.49

TT8_Sampling 1909 29 717.59

TT8_CF8 138 36 63.96

TT8_Kalman 0 0 0.00

Analog_circuits 1590 10 201.23

GPS_charging 0 0 0.00

Compass 1247 5 78.91

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.72 -175.1 173 2364 531 479 0.0 0.0 0 79 0.00 0.00 -62.22 0.000 16386 0.000 0.000 171 2363 2071 2083 2059 0 0 0 0 0 0 28.83 28.83 28.83

81 -0.72 -175.1 171 2360 2085 2061 3.9 -3.4 6 134 11.15 2.62 -34.10 0.000 19204 0.469 0.144 2180 3767 3945 4002 3889 0 0 0 0 0 0 13.96 14.21 14.50

358 -0.72 -175.1 2182 3768 4002 3894 86.8 -23.9 62 364 0.00 2.45 0.00 0.000 1030 0.000 0.081 2181 2345 3947 4002 3893 0 0 0 0 0 0 28.83 14.39 28.83

668 -0.72 -175.1 2181 2345 4004 3895 152.2 -20.3 94 673 0.00 2.58 0.00 0.000 260 0.000 0.122 2170 3769 3948 4002 3894 0 0 0 0 0 0 28.83 14.44 28.83

898 -0.72 -175.1 2170 3770 4004 3895 199.7 -19.4 140 904 0.12 2.42 0.00 0.000 3078 0.311 0.080 2190 2347 3946 3999 3894 0 0 0 0 0 0 14.32 14.50 28.83

1209 -0.72 -175.1 2193 2346 4004 3895 246.7 -14.2 172 1214 0.00 2.55 0.00 0.000 260 0.000 0.125 2189 3768 3948 4002 3894 0 0 0 0 0 0 28.83 14.47 28.83

1348 -0.72 -175.1 2183 3769 4002 3895 268.3 -15.0 200 1354 0.00 2.42 0.00 0.000 1030 0.000 0.079 2183 2365 3945 3996 3894 0 0 0 0 0 0 28.83 14.54 28.83

1658 -0.72 -175.1 2183 2365 4003 3893 311.9 -13.8 212 1659 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2364 3948 4002 3895 0 0 0 0 0 0 28.83 28.83 28.83

1958 -0.72 -175.1 2185 2364 4002 3894 352.7 -13.6 222 1959 0.00 0.00 0.00 0.000 6 0.000 0.000 2188 2364 3948 4002 3894 0 0 0 0 0 0 28.83 28.83 28.83

2258 -0.72 -175.1 2183 2365 4004 3894 392.5 -13.1 232 2259 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 2362 3947 4002 3893 0 0 0 0 0 0 28.83 28.83 28.83

2558 -0.72 -175.1 2185 2365 4002 3893 431.7 -13.0 242 2559 0.00 0.00 0.00 0.000 6 0.000 0.000 2184 2364 3946 4000 3893 0 0 0 0 0 0 28.83 28.83 28.83

2858 -0.72 -175.1 2185 2365 4002 3893 470.8 -13.0 252 2859 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2368 3947 4002 3893 0 0 0 0 0 0 28.83 28.83 28.83

3158 -0.72 -175.1 2182 2365 4004 3893 509.5 -12.9 262 3159 0.00 0.00 0.00 0.000 6 0.000 0.000 2188 2363 3948 4004 3893 0 0 0 0 0 0 28.83 28.83 28.83

3458 -0.72 -175.1 2182 2364 4003 3894 548.1 -12.7 272 3464 0.00 2.53 0.00 0.000 260 0.000 0.124 2171 3770 3945 3998 3892 0 0 0 0 0 0 28.83 14.57 28.83

3488 -0.72 -175.1 2173 3773 4004 3893 552.2 -14.1 278 3494 0.00 2.42 0.00 0.000 1030 0.000 0.080 2173 2361 3947 4003 3892 0 0 0 0 0 0 28.83 14.63 28.83

3819 -0.72 -175.1 2173 2361 4004 3892 595.7 -13.0 294 3820 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2360 3947 4002 3892 0 0 0 0 0 0 28.83 28.83 28.83

4118 -0.72 -175.1 2172 2361 4004 3893 634.7 -12.9 304 4119 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2363 3947 4002 3892 0 0 0 0 0 0 28.83 28.83 28.83

4419 -0.72 -175.1 2175 2361 4002 3892 673.7 -12.8 314 4419 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2361 3949 4002 3897 0 0 0 0 0 0 28.83 28.83 28.83

4718 -0.72 -175.1 2174 2361 4002 3892 712.1 -12.8 324 4719 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2361 3947 4002 3892 0 0 0 0 0 0 28.83 28.83 28.83

5017 end dive: TARGET_DEPTH_EXCEEDED

state 5017 begin apogee

5021 -0.14 0.0 2173 2601 4002 3888 750.2 -12.6 334 5238 0.82 0.00 214.20 1.660 10246 0.280 0.000 2383 2600 3231 3283 3179 0 0 0 0 0 0 14.51 28.83 13.11

5239 end apogee: CONTROL_FINISHED_OK

state 5239 begin climb

5241 0.72 175.1 2384 2601 3279 3174 757.6 0.0 341 5404 0.95 2.38 153.30 1.865 10500 0.157 0.119 2659 3763 2507 2571 2443 0 0 0 0 0 0 13.66 13.09 12.49

5528 0.72 175.1 2658 3761 2568 2436 729.0 14.9 401 5534 0.00 2.12 0.00 0.000 1030 0.000 0.077 2667 2605 2503 2572 2435 0 0 0 0 0 0 28.83 13.67 28.83

5859 0.72 175.1 2669 2605 2566 2434 684.1 13.6 417 5860 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2605 2499 2566 2433 0 0 0 0 0 0 28.83 28.83 28.83

6158 0.72 175.1 2668 2603 2566 2432 643.6 13.5 427 6159 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2605 2498 2565 2432 0 0 0 0 0 0 28.83 28.83 28.83

6458 0.72 175.1 2668 2605 2566 2433 603.1 13.4 437 6459 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2605 2499 2567 2432 0 0 0 0 0 0 28.83 28.83 28.83

6758 0.72 175.1 2669 2605 2566 2432 562.8 13.4 447 6759 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2605 2498 2566 2431 0 0 0 0 0 0 28.83 28.83 28.83

7058 0.72 175.1 2669 2605 2566 2432 522.6 13.3 457 7059 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2604 2498 2566 2431 0 0 0 0 0 0 28.83 28.83 28.83

7358 0.72 175.1 2667 2606 2568 2432 482.4 13.4 467 7359 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2605 2498 2566 2431 0 0 0 0 0 0 28.83 28.83 28.83

7658 0.72 175.1 2669 2605 2566 2432 442.5 13.3 477 7664 0.00 2.40 0.00 0.000 516 0.000 0.087 2678 1194 2498 2566 2431 0 0 0 0 0 0 28.83 14.59 28.83

7683 0.72 175.1 2679 1195 2566 2437 439.3 12.2 482 7690 0.00 2.50 0.00 0.000 1030 0.000 0.101 2679 2595 2498 2566 2431 0 0 0 0 0 0 28.83 14.54 28.83

7988 0.72 175.1 2678 2596 2568 2432 397.9 13.5 493 7989 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2595 2497 2566 2429 0 0 0 0 0 0 28.83 28.83 28.83

8288 0.72 175.1 2681 2596 2566 2431 358.1 13.2 503 8289 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2595 2501 2572 2430 0 0 0 0 0 0 28.83 28.83 28.83

8588 0.72 175.1 2678 2596 2567 2432 318.7 13.1 513 8589 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2595 2498 2566 2430 0 0 0 0 0 0 28.83 28.83 28.83

8888 0.72 175.1 2678 2597 2567 2432 280.3 12.7 523 8889 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2595 2498 2566 2431 0 0 0 0 0 0 28.83 28.83 28.83

9188 0.72 175.1 2679 2596 2566 2431 243.8 11.7 535 9189 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2595 2498 2566 2431 0 0 0 0 0 0 28.83 28.83 28.83

9489 0.75 175.1 2679 2595 2566 2432 209.4 10.9 565 9489 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2600 2496 2562 2431 0 0 0 0 0 0 28.83 28.83 28.83

9789 0.82 245.4 2677 2596 2568 2431 183.1 8.5 595 9855 0.00 2.53 58.97 1.392 8708 0.000 0.088 2688 1193 2218 2292 2144 0 0 0 0 0 0 28.83 14.22 13.65

9884 0.87 245.4 2689 1193 2288 2138 174.1 10.4 614 9891 0.00 2.55 0.00 0.000 1030 0.000 0.101 2688 2605 2210 2289 2132 0 0 0 0 0 0 28.83 14.23 28.83

10189 0.92 291.4 2689 2606 2288 2134 142.7 9.6 645 10236 0.12 2.15 38.60 1.355 10500 0.155 0.125 2731 3763 2031 2112 1951 0 0 0 0 0 0 14.45 14.14 13.60

10315 0.92 291.4 2733 3763 2111 1940 125.6 15.2 670 10322 0.00 2.05 0.00 0.000 1030 0.000 0.081 2741 2601 2024 2106 1943 0 0 0 0 0 0 28.83 14.26 28.83

10620 0.92 291.4 2741 2602 2112 1940 88.1 11.9 701 10625 0.00 2.42 0.00 0.000 516 0.000 0.089 2751 1193 2024 2111 1937 0 0 0 0 0 0 28.83 14.41 28.83

10680 0.92 291.4 2753 1193 2111 1939 81.0 11.8 713 10685 0.00 2.50 0.00 0.000 1030 0.000 0.102 2751 2600 2023 2111 1936 0 0 0 0 0 0 28.83 14.41 28.83

10990 1.03 410.4 2751 2601 2113 1939 51.2 6.3 745 11052 0.00 0.00 56.67 0.322 8198 0.000 0.000 2751 2600 1555 1648 1462 0 0 0 0 0 0 28.83 28.83 14.18

11350 1.15 523.4 2751 2601 1659 1469 20.5 6.6 781 11412 0.17 0.00 56.33 0.236 10502 0.136 0.000 2813 2601 1093 1181 1006 0 0 0 0 0 0 14.45 28.83 14.24

11710 1.36 740.2 2814 2600 1185 1011 12.4 2.0 819 11786 0.17 0.00 72.30 0.215 11014 0.129 0.000 2875 2601 499 539 460 0 0 0 0 0 0 14.50 28.83 14.30

11859 end climb: SURFACE_DEPTH_REACHED

state 11859 begin surface coast

11879 end surface coast: CONTROL_FINISHED_OK

state 11879 begin surface

ID	199	ESCAPE_HEADING	180	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	150	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	22	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	17	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	669.66901	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.6
D_ABORT	800	N_FILEKB	8	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	2	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	9	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	1.75	N_NOCOMM	6	C_VBD	3230	DEVICE4	-1
D_SAFE	500	NOCOMM_ACTION	161	VBD_DBAND	2	DEVICE5	-1
D_CALL	4.5	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	5	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	1
SURFACE_URGENCY_TRY	10	CALL_TRIES	3	PITCH_VBD_SHIFT	0.001	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	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	2	PHONE_DEVICE	49
T_NO_W	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-21783.895	PITCH_W_GAIN	4	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	1	RAFOS_PEAK_OFFSET	1	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.079999998	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044001359
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00063958467
T_WATCHDOG	10	PITCH_MIN	200	MINV_10V	11	SEABIRD_T_I	2.6420161e-05
RELAUNCH	1	PITCH_MAX	3900	FG_AHR_10V	0	SEABIRD_T_J	3.2747387e-06
APOGEE_PITCH	-5	C_PITCH	2435	FG_AHR_24V	0	SEABIRD_C_G	-9.7531748
MAX_BUOY	180	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1147131
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-64.963387	SEABIRD_C_I	-0.0015239087
GLIDE_SLOPE	40	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001159754	SEABIRD_C_J	0.00019379995
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	35.5	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54269	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	160	COMPASS_USE	4	TM_RECORDABOVE	2000.0
NAV_MODE	0	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	0	TM_LOGSAMPLE	0.0
HD_A	0.0031999999	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3771	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	2.1999999e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2360	ALTIM_PING_DELTA	5

GPS1	160814,121312,7231.330,-14555.868,67,0.8,87,22.2	SPEED_LIMITS	0.139,0.275
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7305.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.16	MHEAD_RNG_PITCHd_Wd	340.7,62351,-19.5,-11.628,-22.92,2318
_SM_ANGLEo	-69.3	D_GRID	1000
GPS2	160814,121926,7231.377,-14555.921,6,0.8,26,22.2

FREEZE	1.30,3.097,-1.366,2,1,0	_24V_AH	12.49,111.491
FINISH	1.3,1.019996	_10V_AH	12.65,0.000
SM_CCo	11894,0.00,0.000,0,0,501,669.67	FG_AHR_24Vo	0.000
SM_GC	2.36,8.00,0.43,0.00,0.081,0.103,0.000,199,2366,501,-6.94,1.05,669.67,0,0,0,0,0,0,14.42,14.44,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	510	MEM	272156
RAFOS_FIX	7210.390625,-14553.904297,150814,000043,2,255,0.00	DATA_FILE_SIZE	30082,840
IRIDIUM_FIX	7153.15,-14550.84,160814,084022	CAP_FILE_SIZE	127042,0
TT8_MAMPS	0.053179,0.053179	CFSIZE	2097872896,2054553600
HUMID	52.20	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.53386	INTR	1,11895.81,0x2378b6,7,5
TCM_TEMP	12.00	SOUNDSPEED	1450.8
XPDR_PINGS	0	GPS	160814,153922,7232.964,-14556.086,26,0.7,46,22.2
SC_FREEKB	3999960

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	468	126.07	nil	0	0	0.00
Roll_motor	44	143	79.89	nil	0	0	0.00
VBD_pump_during_apogee	650	1865	15150.31	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	11917	12	1817.23
Iridium_during_xfer	207	176	458.76	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.23
TT8	0	0	0.00
LPSleep	9521	2	278.24
TT8_Active	702	10	97.49
TT8_Sampling	1909	29	717.59
TT8_CF8	138	36	63.96
TT8_Kalman	0	0	0.00
Analog_circuits	1590	10	201.23
GPS_charging	0	0	0.00
Compass	1247	5	78.91
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.72	-175.1	173	2364	531	479	0.0	0.0	0	79	0.00	0.00	-62.22	0.000	16386	0.000	0.000	171	2363	2071	2083	2059	0	0	0	0	0	0	28.83	28.83	28.83
81	-0.72	-175.1	171	2360	2085	2061	3.9	-3.4	6	134	11.15	2.62	-34.10	0.000	19204	0.469	0.144	2180	3767	3945	4002	3889	0	0	0	0	0	0	13.96	14.21	14.50
358	-0.72	-175.1	2182	3768	4002	3894	86.8	-23.9	62	364	0.00	2.45	0.00	0.000	1030	0.000	0.081	2181	2345	3947	4002	3893	0	0	0	0	0	0	28.83	14.39	28.83
668	-0.72	-175.1	2181	2345	4004	3895	152.2	-20.3	94	673	0.00	2.58	0.00	0.000	260	0.000	0.122	2170	3769	3948	4002	3894	0	0	0	0	0	0	28.83	14.44	28.83
898	-0.72	-175.1	2170	3770	4004	3895	199.7	-19.4	140	904	0.12	2.42	0.00	0.000	3078	0.311	0.080	2190	2347	3946	3999	3894	0	0	0	0	0	0	14.32	14.50	28.83
1209	-0.72	-175.1	2193	2346	4004	3895	246.7	-14.2	172	1214	0.00	2.55	0.00	0.000	260	0.000	0.125	2189	3768	3948	4002	3894	0	0	0	0	0	0	28.83	14.47	28.83
1348	-0.72	-175.1	2183	3769	4002	3895	268.3	-15.0	200	1354	0.00	2.42	0.00	0.000	1030	0.000	0.079	2183	2365	3945	3996	3894	0	0	0	0	0	0	28.83	14.54	28.83
1658	-0.72	-175.1	2183	2365	4003	3893	311.9	-13.8	212	1659	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2364	3948	4002	3895	0	0	0	0	0	0	28.83	28.83	28.83
1958	-0.72	-175.1	2185	2364	4002	3894	352.7	-13.6	222	1959	0.00	0.00	0.00	0.000	6	0.000	0.000	2188	2364	3948	4002	3894	0	0	0	0	0	0	28.83	28.83	28.83
2258	-0.72	-175.1	2183	2365	4004	3894	392.5	-13.1	232	2259	0.00	0.00	0.00	0.000	6	0.000	0.000	2189	2362	3947	4002	3893	0	0	0	0	0	0	28.83	28.83	28.83
2558	-0.72	-175.1	2185	2365	4002	3893	431.7	-13.0	242	2559	0.00	0.00	0.00	0.000	6	0.000	0.000	2184	2364	3946	4000	3893	0	0	0	0	0	0	28.83	28.83	28.83
2858	-0.72	-175.1	2185	2365	4002	3893	470.8	-13.0	252	2859	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2368	3947	4002	3893	0	0	0	0	0	0	28.83	28.83	28.83
3158	-0.72	-175.1	2182	2365	4004	3893	509.5	-12.9	262	3159	0.00	0.00	0.00	0.000	6	0.000	0.000	2188	2363	3948	4004	3893	0	0	0	0	0	0	28.83	28.83	28.83
3458	-0.72	-175.1	2182	2364	4003	3894	548.1	-12.7	272	3464	0.00	2.53	0.00	0.000	260	0.000	0.124	2171	3770	3945	3998	3892	0	0	0	0	0	0	28.83	14.57	28.83
3488	-0.72	-175.1	2173	3773	4004	3893	552.2	-14.1	278	3494	0.00	2.42	0.00	0.000	1030	0.000	0.080	2173	2361	3947	4003	3892	0	0	0	0	0	0	28.83	14.63	28.83
3819	-0.72	-175.1	2173	2361	4004	3892	595.7	-13.0	294	3820	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2360	3947	4002	3892	0	0	0	0	0	0	28.83	28.83	28.83
4118	-0.72	-175.1	2172	2361	4004	3893	634.7	-12.9	304	4119	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2363	3947	4002	3892	0	0	0	0	0	0	28.83	28.83	28.83
4419	-0.72	-175.1	2175	2361	4002	3892	673.7	-12.8	314	4419	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2361	3949	4002	3897	0	0	0	0	0	0	28.83	28.83	28.83
4718	-0.72	-175.1	2174	2361	4002	3892	712.1	-12.8	324	4719	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2361	3947	4002	3892	0	0	0	0	0	0	28.83	28.83	28.83
5017	end dive: TARGET_DEPTH_EXCEEDED
state	5017	begin apogee
5021	-0.14	0.0	2173	2601	4002	3888	750.2	-12.6	334	5238	0.82	0.00	214.20	1.660	10246	0.280	0.000	2383	2600	3231	3283	3179	0	0	0	0	0	0	14.51	28.83	13.11
5239	end apogee: CONTROL_FINISHED_OK
state	5239	begin climb
5241	0.72	175.1	2384	2601	3279	3174	757.6	0.0	341	5404	0.95	2.38	153.30	1.865	10500	0.157	0.119	2659	3763	2507	2571	2443	0	0	0	0	0	0	13.66	13.09	12.49
5528	0.72	175.1	2658	3761	2568	2436	729.0	14.9	401	5534	0.00	2.12	0.00	0.000	1030	0.000	0.077	2667	2605	2503	2572	2435	0	0	0	0	0	0	28.83	13.67	28.83
5859	0.72	175.1	2669	2605	2566	2434	684.1	13.6	417	5860	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2605	2499	2566	2433	0	0	0	0	0	0	28.83	28.83	28.83
6158	0.72	175.1	2668	2603	2566	2432	643.6	13.5	427	6159	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2605	2498	2565	2432	0	0	0	0	0	0	28.83	28.83	28.83
6458	0.72	175.1	2668	2605	2566	2433	603.1	13.4	437	6459	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2605	2499	2567	2432	0	0	0	0	0	0	28.83	28.83	28.83
6758	0.72	175.1	2669	2605	2566	2432	562.8	13.4	447	6759	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2605	2498	2566	2431	0	0	0	0	0	0	28.83	28.83	28.83
7058	0.72	175.1	2669	2605	2566	2432	522.6	13.3	457	7059	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2604	2498	2566	2431	0	0	0	0	0	0	28.83	28.83	28.83
7358	0.72	175.1	2667	2606	2568	2432	482.4	13.4	467	7359	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2605	2498	2566	2431	0	0	0	0	0	0	28.83	28.83	28.83
7658	0.72	175.1	2669	2605	2566	2432	442.5	13.3	477	7664	0.00	2.40	0.00	0.000	516	0.000	0.087	2678	1194	2498	2566	2431	0	0	0	0	0	0	28.83	14.59	28.83
7683	0.72	175.1	2679	1195	2566	2437	439.3	12.2	482	7690	0.00	2.50	0.00	0.000	1030	0.000	0.101	2679	2595	2498	2566	2431	0	0	0	0	0	0	28.83	14.54	28.83
7988	0.72	175.1	2678	2596	2568	2432	397.9	13.5	493	7989	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2595	2497	2566	2429	0	0	0	0	0	0	28.83	28.83	28.83
8288	0.72	175.1	2681	2596	2566	2431	358.1	13.2	503	8289	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2595	2501	2572	2430	0	0	0	0	0	0	28.83	28.83	28.83
8588	0.72	175.1	2678	2596	2567	2432	318.7	13.1	513	8589	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2595	2498	2566	2430	0	0	0	0	0	0	28.83	28.83	28.83
8888	0.72	175.1	2678	2597	2567	2432	280.3	12.7	523	8889	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2595	2498	2566	2431	0	0	0	0	0	0	28.83	28.83	28.83
9188	0.72	175.1	2679	2596	2566	2431	243.8	11.7	535	9189	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2595	2498	2566	2431	0	0	0	0	0	0	28.83	28.83	28.83
9489	0.75	175.1	2679	2595	2566	2432	209.4	10.9	565	9489	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2600	2496	2562	2431	0	0	0	0	0	0	28.83	28.83	28.83
9789	0.82	245.4	2677	2596	2568	2431	183.1	8.5	595	9855	0.00	2.53	58.97	1.392	8708	0.000	0.088	2688	1193	2218	2292	2144	0	0	0	0	0	0	28.83	14.22	13.65
9884	0.87	245.4	2689	1193	2288	2138	174.1	10.4	614	9891	0.00	2.55	0.00	0.000	1030	0.000	0.101	2688	2605	2210	2289	2132	0	0	0	0	0	0	28.83	14.23	28.83
10189	0.92	291.4	2689	2606	2288	2134	142.7	9.6	645	10236	0.12	2.15	38.60	1.355	10500	0.155	0.125	2731	3763	2031	2112	1951	0	0	0	0	0	0	14.45	14.14	13.60
10315	0.92	291.4	2733	3763	2111	1940	125.6	15.2	670	10322	0.00	2.05	0.00	0.000	1030	0.000	0.081	2741	2601	2024	2106	1943	0	0	0	0	0	0	28.83	14.26	28.83
10620	0.92	291.4	2741	2602	2112	1940	88.1	11.9	701	10625	0.00	2.42	0.00	0.000	516	0.000	0.089	2751	1193	2024	2111	1937	0	0	0	0	0	0	28.83	14.41	28.83
10680	0.92	291.4	2753	1193	2111	1939	81.0	11.8	713	10685	0.00	2.50	0.00	0.000	1030	0.000	0.102	2751	2600	2023	2111	1936	0	0	0	0	0	0	28.83	14.41	28.83
10990	1.03	410.4	2751	2601	2113	1939	51.2	6.3	745	11052	0.00	0.00	56.67	0.322	8198	0.000	0.000	2751	2600	1555	1648	1462	0	0	0	0	0	0	28.83	28.83	14.18
11350	1.15	523.4	2751	2601	1659	1469	20.5	6.6	781	11412	0.17	0.00	56.33	0.236	10502	0.136	0.000	2813	2601	1093	1181	1006	0	0	0	0	0	0	14.45	28.83	14.24
11710	1.36	740.2	2814	2600	1185	1011	12.4	2.0	819	11786	0.17	0.00	72.30	0.215	11014	0.129	0.000	2875	2601	499	539	460	0	0	0	0	0	0	14.50	28.83	14.30
11859	end climb: SURFACE_DEPTH_REACHED
state	11859	begin surface coast
11879	end surface coast: CONTROL_FINISHED_OK
state	11879	begin surface