Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 155 * 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 155 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 19 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 -21790.201 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 -21790.201

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 19 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 155 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 170814,052224,7240.180,-14556.409,83,0.7,103,22.3 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 2.20 MHEAD_RNG_PITCHd_Wd 342.1,46002,-19.5,-11.628,-22.92,2318

_SM_ANGLEo -70.3 D_GRID 1000

GPS2 170814,052931,7240.233,-14556.497,6,0.8,26,22.3

Post-dive calculations and measurements:

FREEZE 1.27,3.232,-0.179,2,1,0 _24V_AH 12.36,113.198

FINISH 1.3,1.002570 _10V_AH 12.60,0.000

SM_CCo 11906,0.17,0.627,0,0,498,669.67 FG_AHR_24Vo 0.000

SM_GC 2.75,8.12,0.43,0.17,0.086,0.095,0.627,198,2355,498,-6.94,0.88,669.67,0,0,0,0,0,0,14.42,14.42,14.32 FG_AHR_10Vo 0.000

RAFOS_CLK 132 MEM 269432

RAFOS_FIX 7210.390625,-14553.904297,150814,000043,2,255,0.00 DATA_FILE_SIZE 30039,844

IRIDIUM_FIX 7200.11,-14600.63,170814,015934 CAP_FILE_SIZE 128020,0

TT8_MAMPS 0.050183,0.050183 CFSIZE 2097872896,2053570560

HUMID 50.43 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.4655 INTR 0,12305.32,0x2378b6,7,5

TCM_TEMP 11.90 SOUNDSPEED 1450.1

XPDR_PINGS 0 GPS 170814,084948,7242.043,-14556.391,39,0.9,59,22.3

SC_FREEKB 3999388

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 468 124.70 nil 0 0 0.00

Roll_motor 44 138 76.03 nil 0 0 0.00

VBD_pump_during_apogee 655 2750 22284.66 nil 0 0 0.00

VBD_pump_during_surface 0 626 1.36 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 11926 12 1777.71

Iridium_during_xfer 258 163 522.56 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 7.19

TT8 0 0 0.00

LPSleep 9526 2 277.27

TT8_Active 687 10 94.96

TT8_Sampling 1970 29 737.46

TT8_CF8 147 36 67.78

TT8_Kalman 0 0 0.00

Analog_circuits 1631 10 205.58

GPS_charging 0 0 0.00

Compass 1254 5 79.04

RAFOS 1497 48 905.39

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 -175.1 160 2366 522 479 0.0 0.0 0 69 0.00 0.00 -51.88 0.000 16386 0.000 0.000 159 2366 1810 1821 1799 0 0 0 0 0 0 28.83 28.83 28.83

71 -0.72 -175.1 160 2366 1822 1799 3.7 -3.9 5 130 11.07 2.60 -42.72 0.000 18692 0.468 0.138 2181 3771 3946 4003 3889 0 0 0 0 0 0 14.03 14.30 14.57

354 -0.72 -175.1 2181 3772 4005 3896 88.2 -25.7 62 361 0.00 2.45 0.00 0.000 1030 0.000 0.076 2183 2354 3951 4003 3900 0 0 0 0 0 0 28.83 14.43 28.83

660 -0.72 -175.1 2181 2354 4005 3896 155.4 -20.8 93 665 0.00 2.53 0.00 0.000 260 0.000 0.121 2175 3765 3949 4003 3896 0 0 0 0 0 0 28.83 14.44 28.83

755 -0.72 -175.1 2172 3764 4003 3896 176.3 -21.8 112 761 0.12 2.38 0.00 0.000 3078 0.323 0.076 2192 2356 3950 4004 3896 0 0 0 0 0 0 14.30 14.49 28.83

1059 -0.72 -175.1 2193 2356 4005 3896 227.8 -15.0 143 1060 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2360 3949 4003 3896 0 0 0 0 0 0 28.83 28.83 28.83

1369 -0.72 -175.1 2192 2356 4005 3896 272.5 -14.1 164 1370 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2355 3949 4003 3895 0 0 0 0 0 0 28.83 28.83 28.83

1669 -0.72 -175.1 2194 2356 4002 3896 313.9 -13.7 174 1675 0.00 2.55 0.00 0.000 260 0.000 0.123 2183 3758 3949 4003 3895 0 0 0 0 0 0 28.83 14.52 28.83

1699 -0.72 -175.1 2183 3759 4005 3896 318.4 -15.4 180 1705 0.00 2.40 0.00 0.000 1030 0.000 0.078 2184 2360 3949 4003 3895 0 0 0 0 0 0 28.83 14.57 28.83

2030 -0.72 -175.1 2183 2360 4005 3896 364.3 -13.8 196 2031 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2359 3948 4003 3894 0 0 0 0 0 0 28.83 28.83 28.83

2329 -0.72 -175.1 2183 2360 4005 3896 404.9 -13.3 206 2330 0.00 0.00 0.00 0.000 6 0.000 0.000 2187 2359 3947 3999 3895 0 0 0 0 0 0 28.83 28.83 28.83

2629 -0.72 -175.1 2183 2360 4004 3895 444.5 -13.2 216 2630 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2360 3950 4003 3897 0 0 0 0 0 0 28.83 28.83 28.83

2929 -0.72 -175.1 2183 2360 4005 3896 484.4 -13.3 226 2930 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2360 3949 4003 3895 0 0 0 0 0 0 28.83 28.83 28.83

3229 -0.72 -175.1 2183 2360 4004 3896 523.6 -12.9 236 3230 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2359 3948 4002 3895 0 0 0 0 0 0 28.83 28.83 28.83

3529 -0.72 -175.1 2181 2360 4003 3895 562.5 -12.9 246 3530 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2360 3949 4003 3895 0 0 0 0 0 0 28.83 28.83 28.83

3829 -0.72 -175.1 2183 2360 4004 3895 601.2 -12.8 256 3830 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2360 3949 4003 3895 0 0 0 0 0 0 28.83 28.83 28.83

4129 -0.72 -175.1 2183 2360 4005 3896 639.5 -12.8 266 4130 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2360 3952 4003 3901 0 0 0 0 0 0 28.83 28.83 28.83

4429 -0.72 -175.1 2185 2360 4003 3895 676.8 -12.4 276 4430 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2361 3949 4003 3895 0 0 0 0 0 0 28.83 28.83 28.83

4729 -0.72 -175.1 2183 2360 4005 3896 714.0 -12.3 286 4730 0.00 0.00 0.00 0.000 6 0.000 0.000 2185 2359 3953 4011 3895 0 0 0 0 0 0 28.83 28.83 28.83

5028 end dive: TARGET_DEPTH_EXCEEDED

state 5028 begin apogee

5032 -0.14 0.0 2183 2601 4003 3895 750.9 -12.3 296 5245 0.77 0.00 210.50 1.753 10246 0.272 0.000 2381 2599 3229 3279 3180 0 0 0 0 0 0 14.45 28.83 13.06

5246 end apogee: CONTROL_FINISHED_OK

state 5247 begin climb

5248 0.72 175.1 2381 2600 3278 3175 758.6 0.0 303 5411 0.98 2.40 155.82 1.998 10500 0.159 0.117 2660 3764 2508 2570 2446 0 0 0 0 0 0 13.62 13.02 12.36

5610 0.72 175.1 2660 3765 2564 2436 718.8 15.5 377 5616 0.00 2.12 0.00 0.000 1030 0.000 0.073 2668 2596 2498 2562 2435 0 0 0 0 0 0 28.83 13.81 28.83

5931 0.72 175.1 2666 2594 2562 2434 675.1 13.7 391 5932 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2593 2497 2562 2433 0 0 0 0 0 0 28.83 28.83 28.83

6230 0.72 175.1 2669 2594 2564 2433 634.8 13.4 401 6231 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2593 2498 2563 2433 0 0 0 0 0 0 28.83 28.83 28.83

6531 0.72 175.1 2669 2599 2564 2433 595.2 13.2 411 6531 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2593 2495 2563 2428 0 0 0 0 0 0 28.83 28.83 28.83

6831 0.72 175.1 2670 2594 2562 2433 556.1 13.0 421 6831 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2593 2497 2562 2432 0 0 0 0 0 0 28.83 28.83 28.83

7131 0.72 175.1 2671 2594 2562 2432 517.0 13.0 431 7131 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2593 2497 2563 2431 0 0 0 0 0 0 28.83 28.83 28.83

7431 0.72 175.1 2669 2594 2564 2432 478.2 13.0 441 7431 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2594 2496 2562 2431 0 0 0 0 0 0 28.83 28.83 28.83

7731 0.72 175.1 2669 2594 2565 2432 439.0 13.0 451 7731 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2593 2497 2562 2432 0 0 0 0 0 0 28.83 28.83 28.83

8031 0.72 175.1 2669 2594 2564 2432 400.2 12.8 461 8031 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2594 2494 2557 2431 0 0 0 0 0 0 28.83 28.83 28.83

8331 0.72 175.1 2670 2594 2562 2432 361.7 12.8 471 8331 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2593 2496 2562 2431 0 0 0 0 0 0 28.83 28.83 28.83

8631 0.72 175.1 2669 2594 2564 2432 323.8 12.6 481 8631 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2590 2500 2563 2438 0 0 0 0 0 0 28.83 28.83 28.83

8931 0.72 175.1 2670 2594 2562 2432 287.2 11.9 491 8936 0.00 2.42 0.00 0.000 516 0.000 0.086 2677 1187 2494 2562 2427 0 0 0 0 0 0 28.83 14.62 28.83

8970 0.75 175.1 2680 1188 2564 2431 282.8 11.0 497 8975 0.00 2.47 0.00 0.000 1030 0.000 0.099 2677 2601 2497 2563 2431 0 0 0 0 0 0 28.83 14.59 28.83

9280 0.75 175.1 2681 2602 2562 2432 244.7 11.8 515 9281 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2602 2496 2562 2431 0 0 0 0 0 0 28.83 28.83 28.83

9580 0.79 221.8 2681 2602 2566 2432 212.1 9.6 545 9622 0.00 0.00 39.15 1.412 8198 0.000 0.000 2680 2601 2321 2388 2255 0 0 0 0 0 0 28.83 28.83 13.66

9921 0.86 221.8 2679 2602 2380 2238 177.5 9.9 579 9922 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2598 2310 2378 2243 0 0 0 0 0 0 28.83 28.83 28.83

10220 0.95 307.0 2679 2602 2377 2238 151.8 7.8 609 10302 0.20 2.58 73.15 1.381 10756 0.124 0.086 2761 1198 1964 2047 1882 0 0 0 0 0 0 14.42 14.02 13.47

10347 0.95 307.0 2761 1193 2041 1875 135.8 13.7 634 10354 0.00 2.55 0.00 0.000 1030 0.000 0.099 2761 2598 1954 2039 1870 0 0 0 0 0 0 28.83 14.09 28.83

10653 0.95 307.0 2762 2598 2038 1869 91.6 13.6 665 10658 0.00 2.10 0.00 0.000 260 0.000 0.122 2761 3770 1953 2038 1868 0 0 0 0 0 0 28.83 14.33 28.83

10843 0.97 307.0 2761 3769 2039 1869 66.6 11.1 703 10848 0.00 2.05 0.00 0.000 1030 0.000 0.080 2770 2597 1953 2038 1868 0 0 0 0 0 0 28.83 14.40 28.83

11153 1.09 427.1 2772 2597 2038 1868 43.8 6.3 735 11215 0.00 2.42 55.38 0.301 8708 0.000 0.084 2780 1189 1490 1582 1399 0 0 0 0 0 0 28.83 14.39 14.22

11394 1.15 488.6 2782 1189 1592 1405 20.9 8.9 783 11431 0.00 2.50 31.95 0.239 9222 0.000 0.099 2780 2605 1236 1329 1143 0 0 0 0 0 0 28.83 14.42 14.27

11735 1.38 714.5 2782 2601 1334 1153 11.0 1.6 821 11831 0.28 2.53 89.43 0.211 10756 0.108 0.088 2893 1191 497 527 467 0 0 0 0 0 0 14.50 14.35 14.28

11856 1.43 765.3 2894 1189 531 472 4.4 9.4 840 11863 0.00 2.50 0.03 2.751 9222 0.000 0.102 2893 2594 500 529 471 0 0 0 0 0 0 28.83 14.34 13.54

11880 end climb: SURFACE_DEPTH_REACHED

state 11880 begin surface coast

11890 end surface coast: CONTROL_FINISHED_OK

state 11890 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	155	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	19	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	-21790.201	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	170814,052224,7240.180,-14556.409,83,0.7,103,22.3	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	2.20	MHEAD_RNG_PITCHd_Wd	342.1,46002,-19.5,-11.628,-22.92,2318
_SM_ANGLEo	-70.3	D_GRID	1000
GPS2	170814,052931,7240.233,-14556.497,6,0.8,26,22.3

FREEZE	1.27,3.232,-0.179,2,1,0	_24V_AH	12.36,113.198
FINISH	1.3,1.002570	_10V_AH	12.60,0.000
SM_CCo	11906,0.17,0.627,0,0,498,669.67	FG_AHR_24Vo	0.000
SM_GC	2.75,8.12,0.43,0.17,0.086,0.095,0.627,198,2355,498,-6.94,0.88,669.67,0,0,0,0,0,0,14.42,14.42,14.32	FG_AHR_10Vo	0.000
RAFOS_CLK	132	MEM	269432
RAFOS_FIX	7210.390625,-14553.904297,150814,000043,2,255,0.00	DATA_FILE_SIZE	30039,844
IRIDIUM_FIX	7200.11,-14600.63,170814,015934	CAP_FILE_SIZE	128020,0
TT8_MAMPS	0.050183,0.050183	CFSIZE	2097872896,2053570560
HUMID	50.43	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.4655	INTR	0,12305.32,0x2378b6,7,5
TCM_TEMP	11.90	SOUNDSPEED	1450.1
XPDR_PINGS	0	GPS	170814,084948,7242.043,-14556.391,39,0.9,59,22.3
SC_FREEKB	3999388

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	468	124.70	nil	0	0	0.00
Roll_motor	44	138	76.03	nil	0	0	0.00
VBD_pump_during_apogee	655	2750	22284.66	nil	0	0	0.00
VBD_pump_during_surface	0	626	1.36	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	11926	12	1777.71
Iridium_during_xfer	258	163	522.56	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	7.19
TT8	0	0	0.00
LPSleep	9526	2	277.27
TT8_Active	687	10	94.96
TT8_Sampling	1970	29	737.46
TT8_CF8	147	36	67.78
TT8_Kalman	0	0	0.00
Analog_circuits	1631	10	205.58
GPS_charging	0	0	0.00
Compass	1254	5	79.04
RAFOS	1497	48	905.39
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	160	2366	522	479	0.0	0.0	0	69	0.00	0.00	-51.88	0.000	16386	0.000	0.000	159	2366	1810	1821	1799	0	0	0	0	0	0	28.83	28.83	28.83
71	-0.72	-175.1	160	2366	1822	1799	3.7	-3.9	5	130	11.07	2.60	-42.72	0.000	18692	0.468	0.138	2181	3771	3946	4003	3889	0	0	0	0	0	0	14.03	14.30	14.57
354	-0.72	-175.1	2181	3772	4005	3896	88.2	-25.7	62	361	0.00	2.45	0.00	0.000	1030	0.000	0.076	2183	2354	3951	4003	3900	0	0	0	0	0	0	28.83	14.43	28.83
660	-0.72	-175.1	2181	2354	4005	3896	155.4	-20.8	93	665	0.00	2.53	0.00	0.000	260	0.000	0.121	2175	3765	3949	4003	3896	0	0	0	0	0	0	28.83	14.44	28.83
755	-0.72	-175.1	2172	3764	4003	3896	176.3	-21.8	112	761	0.12	2.38	0.00	0.000	3078	0.323	0.076	2192	2356	3950	4004	3896	0	0	0	0	0	0	14.30	14.49	28.83
1059	-0.72	-175.1	2193	2356	4005	3896	227.8	-15.0	143	1060	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2360	3949	4003	3896	0	0	0	0	0	0	28.83	28.83	28.83
1369	-0.72	-175.1	2192	2356	4005	3896	272.5	-14.1	164	1370	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2355	3949	4003	3895	0	0	0	0	0	0	28.83	28.83	28.83
1669	-0.72	-175.1	2194	2356	4002	3896	313.9	-13.7	174	1675	0.00	2.55	0.00	0.000	260	0.000	0.123	2183	3758	3949	4003	3895	0	0	0	0	0	0	28.83	14.52	28.83
1699	-0.72	-175.1	2183	3759	4005	3896	318.4	-15.4	180	1705	0.00	2.40	0.00	0.000	1030	0.000	0.078	2184	2360	3949	4003	3895	0	0	0	0	0	0	28.83	14.57	28.83
2030	-0.72	-175.1	2183	2360	4005	3896	364.3	-13.8	196	2031	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2359	3948	4003	3894	0	0	0	0	0	0	28.83	28.83	28.83
2329	-0.72	-175.1	2183	2360	4005	3896	404.9	-13.3	206	2330	0.00	0.00	0.00	0.000	6	0.000	0.000	2187	2359	3947	3999	3895	0	0	0	0	0	0	28.83	28.83	28.83
2629	-0.72	-175.1	2183	2360	4004	3895	444.5	-13.2	216	2630	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2360	3950	4003	3897	0	0	0	0	0	0	28.83	28.83	28.83
2929	-0.72	-175.1	2183	2360	4005	3896	484.4	-13.3	226	2930	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2360	3949	4003	3895	0	0	0	0	0	0	28.83	28.83	28.83
3229	-0.72	-175.1	2183	2360	4004	3896	523.6	-12.9	236	3230	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2359	3948	4002	3895	0	0	0	0	0	0	28.83	28.83	28.83
3529	-0.72	-175.1	2181	2360	4003	3895	562.5	-12.9	246	3530	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2360	3949	4003	3895	0	0	0	0	0	0	28.83	28.83	28.83
3829	-0.72	-175.1	2183	2360	4004	3895	601.2	-12.8	256	3830	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2360	3949	4003	3895	0	0	0	0	0	0	28.83	28.83	28.83
4129	-0.72	-175.1	2183	2360	4005	3896	639.5	-12.8	266	4130	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2360	3952	4003	3901	0	0	0	0	0	0	28.83	28.83	28.83
4429	-0.72	-175.1	2185	2360	4003	3895	676.8	-12.4	276	4430	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2361	3949	4003	3895	0	0	0	0	0	0	28.83	28.83	28.83
4729	-0.72	-175.1	2183	2360	4005	3896	714.0	-12.3	286	4730	0.00	0.00	0.00	0.000	6	0.000	0.000	2185	2359	3953	4011	3895	0	0	0	0	0	0	28.83	28.83	28.83
5028	end dive: TARGET_DEPTH_EXCEEDED
state	5028	begin apogee
5032	-0.14	0.0	2183	2601	4003	3895	750.9	-12.3	296	5245	0.77	0.00	210.50	1.753	10246	0.272	0.000	2381	2599	3229	3279	3180	0	0	0	0	0	0	14.45	28.83	13.06
5246	end apogee: CONTROL_FINISHED_OK
state	5247	begin climb
5248	0.72	175.1	2381	2600	3278	3175	758.6	0.0	303	5411	0.98	2.40	155.82	1.998	10500	0.159	0.117	2660	3764	2508	2570	2446	0	0	0	0	0	0	13.62	13.02	12.36
5610	0.72	175.1	2660	3765	2564	2436	718.8	15.5	377	5616	0.00	2.12	0.00	0.000	1030	0.000	0.073	2668	2596	2498	2562	2435	0	0	0	0	0	0	28.83	13.81	28.83
5931	0.72	175.1	2666	2594	2562	2434	675.1	13.7	391	5932	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2593	2497	2562	2433	0	0	0	0	0	0	28.83	28.83	28.83
6230	0.72	175.1	2669	2594	2564	2433	634.8	13.4	401	6231	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2593	2498	2563	2433	0	0	0	0	0	0	28.83	28.83	28.83
6531	0.72	175.1	2669	2599	2564	2433	595.2	13.2	411	6531	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2593	2495	2563	2428	0	0	0	0	0	0	28.83	28.83	28.83
6831	0.72	175.1	2670	2594	2562	2433	556.1	13.0	421	6831	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2593	2497	2562	2432	0	0	0	0	0	0	28.83	28.83	28.83
7131	0.72	175.1	2671	2594	2562	2432	517.0	13.0	431	7131	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2593	2497	2563	2431	0	0	0	0	0	0	28.83	28.83	28.83
7431	0.72	175.1	2669	2594	2564	2432	478.2	13.0	441	7431	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2594	2496	2562	2431	0	0	0	0	0	0	28.83	28.83	28.83
7731	0.72	175.1	2669	2594	2565	2432	439.0	13.0	451	7731	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2593	2497	2562	2432	0	0	0	0	0	0	28.83	28.83	28.83
8031	0.72	175.1	2669	2594	2564	2432	400.2	12.8	461	8031	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2594	2494	2557	2431	0	0	0	0	0	0	28.83	28.83	28.83
8331	0.72	175.1	2670	2594	2562	2432	361.7	12.8	471	8331	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2593	2496	2562	2431	0	0	0	0	0	0	28.83	28.83	28.83
8631	0.72	175.1	2669	2594	2564	2432	323.8	12.6	481	8631	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2590	2500	2563	2438	0	0	0	0	0	0	28.83	28.83	28.83
8931	0.72	175.1	2670	2594	2562	2432	287.2	11.9	491	8936	0.00	2.42	0.00	0.000	516	0.000	0.086	2677	1187	2494	2562	2427	0	0	0	0	0	0	28.83	14.62	28.83
8970	0.75	175.1	2680	1188	2564	2431	282.8	11.0	497	8975	0.00	2.47	0.00	0.000	1030	0.000	0.099	2677	2601	2497	2563	2431	0	0	0	0	0	0	28.83	14.59	28.83
9280	0.75	175.1	2681	2602	2562	2432	244.7	11.8	515	9281	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2602	2496	2562	2431	0	0	0	0	0	0	28.83	28.83	28.83
9580	0.79	221.8	2681	2602	2566	2432	212.1	9.6	545	9622	0.00	0.00	39.15	1.412	8198	0.000	0.000	2680	2601	2321	2388	2255	0	0	0	0	0	0	28.83	28.83	13.66
9921	0.86	221.8	2679	2602	2380	2238	177.5	9.9	579	9922	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2598	2310	2378	2243	0	0	0	0	0	0	28.83	28.83	28.83
10220	0.95	307.0	2679	2602	2377	2238	151.8	7.8	609	10302	0.20	2.58	73.15	1.381	10756	0.124	0.086	2761	1198	1964	2047	1882	0	0	0	0	0	0	14.42	14.02	13.47
10347	0.95	307.0	2761	1193	2041	1875	135.8	13.7	634	10354	0.00	2.55	0.00	0.000	1030	0.000	0.099	2761	2598	1954	2039	1870	0	0	0	0	0	0	28.83	14.09	28.83
10653	0.95	307.0	2762	2598	2038	1869	91.6	13.6	665	10658	0.00	2.10	0.00	0.000	260	0.000	0.122	2761	3770	1953	2038	1868	0	0	0	0	0	0	28.83	14.33	28.83
10843	0.97	307.0	2761	3769	2039	1869	66.6	11.1	703	10848	0.00	2.05	0.00	0.000	1030	0.000	0.080	2770	2597	1953	2038	1868	0	0	0	0	0	0	28.83	14.40	28.83
11153	1.09	427.1	2772	2597	2038	1868	43.8	6.3	735	11215	0.00	2.42	55.38	0.301	8708	0.000	0.084	2780	1189	1490	1582	1399	0	0	0	0	0	0	28.83	14.39	14.22
11394	1.15	488.6	2782	1189	1592	1405	20.9	8.9	783	11431	0.00	2.50	31.95	0.239	9222	0.000	0.099	2780	2605	1236	1329	1143	0	0	0	0	0	0	28.83	14.42	14.27
11735	1.38	714.5	2782	2601	1334	1153	11.0	1.6	821	11831	0.28	2.53	89.43	0.211	10756	0.108	0.088	2893	1191	497	527	467	0	0	0	0	0	0	14.50	14.35	14.28
11856	1.43	765.3	2894	1189	531	472	4.4	9.4	840	11863	0.00	2.50	0.03	2.751	9222	0.000	0.102	2893	2594	500	529	471	0	0	0	0	0	0	28.83	14.34	13.54
11880	end climb: SURFACE_DEPTH_REACHED
state	11880	begin surface coast
11890	end surface coast: CONTROL_FINISHED_OK
state	11890	begin surface