Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 20 * 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 20 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 29 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 16 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 -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 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 5 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 -3346.2261 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 2630 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 37 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 37 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 5 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 5

CAPUPLOAD 0 ID 198 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -3346.2261

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 2630 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 -1

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 29 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 16 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 20 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 290714,050744,7055.148,-14429.326,12,0.8,32,22.3 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 1.78 MHEAD_RNG_PITCHd_Wd 343.0,76544,-21.9,-11.905,-26.85,1887

_SM_ANGLEo -74.8 D_GRID 1000

GPS2 290714,051733,7055.124,-14429.354,5,1.0,26,22.3

Post-dive calculations and measurements:

FINISH 1.3,1.018612 _10V_AH 12.62,0.000

SM_CCo 9090,0.00,0.000,0,0,504,657.89 FG_AHR_24Vo 0.000

SM_GC 2.25,8.40,1.75,0.00,0.084,0.086,0.000,205,2798,504,-7.52,1.10,657.89,0,0,0,0,0,0,14.40,14.40,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 569 MEM 303792

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26768,793

IRIDIUM_FIX 7019.90,-14425.45,290714,025634 CAP_FILE_SIZE 131290,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2089123840

HUMID 52.28 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0

INTERNAL_PRESSURE 8.57378 INTR 0,8073.48,0x2378b6,7,5

TCM_TEMP 13.30 SOUNDSPEED 1448.9

XPDR_PINGS 0 EKF 9175,4256.195312,-8669.090820,1.281551,-0.181645,-0.011970,-0.076232,0.000150,0.001405,0.000098,0.000025,0.000025,0.000035

SC_FREEKB 4011424 CURRENT 0.053,152.16,1

TM_FREEKB 7725792 GPS 290714,075043,7055.944,-14428.714,20,0.9,40,22.3

_24V_AH 12.72,7.080

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 471 140.11 nil 0 0 0.00

Roll_motor 62 169 134.69 nil 0 0 0.00

VBD_pump_during_apogee 619 2701 21301.14 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 9030 15 1774.38

Iridium_during_xfer 370 198 936.86 TMICL 9073 13 1542.67

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 6629 2 193.26

TT8_Active 739 8 81.53

TT8_Sampling 2250 28 800.84

TT8_CF8 70 35 31.65

TT8_Kalman 0 0 0.00

Analog_circuits 1830 10 231.04

GPS_charging 0 0 0.00

Compass 1182 0 11.19

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 -0.69 -145.9 203 2797 492 598 0.0 0.0 0 84 0.00 0.00 -63.22 0.000 16386 0.000 0.000 202 2797 2161 2201 2122 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.69 -145.9 203 2796 2202 2122 4.0 -4.5 6 137 11.68 1.90 -29.90 0.000 19204 0.471 0.170 2388 3786 3785 3861 3710 0 0 0 0 0 0 14.14 14.29 14.52

221 -0.62 -145.9 2388 3787 3861 3708 37.2 -22.3 30 230 0.17 1.70 0.00 0.000 3078 0.344 0.085 2424 2791 3784 3861 3707 0 0 0 0 0 0 14.22 14.36 28.83

526 -0.62 -145.9 2424 2792 3862 3709 86.2 -14.2 61 529 0.00 0.00 0.00 0.000 6 0.000 0.000 2424 2791 3785 3861 3709 0 0 0 0 0 0 28.83 28.83 28.83

826 -0.65 -145.9 2424 2791 3861 3710 125.0 -12.1 91 834 0.00 2.40 0.00 0.000 516 0.000 0.092 2424 1384 3784 3860 3709 0 0 0 0 0 0 28.83 14.51 28.83

913 -0.70 -145.9 2426 1384 3861 3709 135.0 -11.2 108 924 0.00 2.55 0.00 0.000 1030 0.000 0.125 2415 2798 3785 3861 3709 0 0 0 0 0 0 28.83 14.48 28.83

1218 -0.73 -145.9 2416 2798 3861 3709 170.9 -11.6 139 1221 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 2798 3784 3860 3709 0 0 0 0 0 0 28.83 28.83 28.83

1518 -0.78 -145.9 2416 2798 3861 3708 201.5 -9.4 169 1526 0.12 2.42 0.00 0.000 4612 0.154 0.090 2356 1382 3783 3858 3709 0 0 0 0 0 0 14.58 14.56 28.83

1550 -0.78 -145.9 2360 1380 3860 3708 205.3 -11.8 175 1558 0.00 2.58 0.00 0.000 1030 0.000 0.129 2359 2805 3783 3858 3708 0 0 0 0 0 0 28.83 14.49 28.83

1863 -0.78 -145.9 2360 2803 3859 3710 241.9 -11.3 207 1870 0.00 2.42 0.00 0.000 516 0.000 0.092 2359 1382 3783 3858 3709 0 0 0 0 0 0 28.83 14.57 28.83

1895 -0.80 -145.9 2360 1382 3858 3709 245.6 -11.4 213 1903 0.00 2.55 0.00 0.000 1030 0.000 0.130 2359 2798 3783 3857 3709 0 0 0 0 0 0 28.83 14.53 28.83

2207 -0.80 -145.9 2360 2798 3858 3709 280.2 -11.1 227 2209 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 2797 3782 3857 3708 0 0 0 0 0 0 28.83 28.83 28.83

2507 -0.80 -145.9 2357 2799 3857 3710 313.2 -11.0 237 2509 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 2798 3783 3857 3709 0 0 0 0 0 0 28.83 28.83 28.83

2807 -0.82 -145.9 2357 2798 3857 3709 345.1 -10.6 247 2815 0.00 2.38 0.00 0.000 516 0.000 0.090 2359 1392 3783 3857 3709 0 0 0 0 0 0 28.83 14.62 28.83

2859 -0.86 -145.9 2360 1393 3856 3710 350.3 -9.2 257 2867 0.00 2.53 0.00 0.000 1030 0.000 0.128 2360 2802 3782 3856 3709 0 0 0 0 0 0 28.83 14.59 28.83

3171 -0.88 -145.9 2360 2801 3857 3709 382.6 -10.3 269 3174 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 2802 3782 3855 3709 0 0 0 0 0 0 28.83 28.83 28.83

3471 -0.90 -145.9 2360 2803 3856 3710 413.4 -10.2 279 3479 0.00 2.40 0.00 0.000 516 0.000 0.091 2359 1385 3780 3854 3707 0 0 0 0 0 0 28.83 14.64 28.83

3534 -0.94 -145.9 2360 1385 3855 3710 419.7 -10.2 291 3541 0.00 2.53 0.00 0.000 1030 0.000 0.128 2365 2801 3779 3850 3709 0 0 0 0 0 0 28.83 14.61 28.83

3866 -0.96 -145.9 2360 2801 3855 3705 453.7 -10.2 307 3869 0.12 0.00 0.00 0.000 4102 0.159 0.000 2310 2801 3781 3854 3709 0 0 0 0 0 0 14.67 28.83 28.83

4165 -0.96 -145.9 2311 2803 3864 3709 491.2 -12.7 317 4173 0.00 2.40 0.00 0.000 516 0.000 0.090 2310 1382 3781 3854 3709 0 0 0 0 0 0 28.83 14.66 28.83

4217 -0.96 -145.9 2311 1382 3857 3709 497.5 -12.0 327 4225 0.00 2.53 0.00 0.000 1030 0.000 0.125 2302 2803 3781 3854 3709 0 0 0 0 0 0 28.83 14.62 28.83

4258 end dive: TARGET_DEPTH_EXCEEDED

state 4258 begin apogee

4261 -0.14 0.0 2302 3050 3855 3710 502.8 -12.5 330 4402 1.10 0.00 131.60 2.701 10246 0.306 0.000 2580 3049 3186 3264 3108 0 0 0 0 1 0 14.52 28.83 12.72

4404 end apogee: CONTROL_FINISHED_OK

state 4404 begin climb

4405 0.69 145.9 2581 3049 3282 3108 506.3 0.0 334 4549 0.90 1.48 130.95 1.505 10500 0.168 0.131 2843 3784 2584 2650 2518 0 0 0 0 0 0 13.71 13.66 13.18

4773 0.62 145.9 2851 3784 2635 2503 461.6 16.7 400 4782 0.00 1.33 0.00 0.000 1030 0.000 0.088 2848 3046 2569 2634 2504 0 0 0 0 0 0 28.83 14.12 28.83

5106 0.57 145.9 2850 3048 2635 2503 411.6 15.0 416 5116 0.15 1.35 0.00 0.000 4356 0.314 0.133 2814 3785 2568 2633 2503 0 0 0 0 0 0 14.22 14.30 28.83

5215 0.53 145.9 2814 3785 2635 2503 395.5 14.4 437 5223 0.00 1.30 0.00 0.000 1030 0.000 0.092 2819 3046 2569 2634 2504 0 0 0 0 0 0 28.83 14.38 28.83

5532 0.50 145.9 2819 3045 2635 2502 352.9 13.4 450 5535 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 3049 2568 2634 2503 0 0 0 0 0 0 28.83 28.83 28.83

5832 0.47 145.9 2820 3050 2635 2504 313.1 13.2 460 5834 0.15 0.00 0.00 0.000 4102 0.308 0.000 2786 3050 2568 2633 2503 0 0 0 0 0 0 14.42 28.83 28.83

6132 0.48 155.7 2786 3050 2635 2503 278.5 11.4 470 6138 0.00 0.00 3.10 0.760 8198 0.000 0.000 2786 3050 2550 2618 2482 0 0 0 0 0 0 28.83 28.83 13.94

6432 0.49 169.5 2787 3050 2639 2482 245.0 11.2 482 6456 0.00 0.00 17.92 1.231 8198 0.000 0.000 2786 3050 2486 2557 2415 0 0 0 0 0 0 28.83 28.83 14.00

6752 0.50 186.4 2787 3050 2546 2407 209.2 11.0 514 6775 0.00 0.00 14.55 1.193 8198 0.000 0.000 2786 3050 2414 2483 2345 0 0 0 0 0 0 28.83 28.83 13.97

7072 0.56 238.2 2787 3050 2475 2340 176.2 9.1 546 7127 0.00 2.45 46.55 1.180 8708 0.000 0.087 2796 1640 2202 2266 2139 0 0 0 0 0 0 28.83 14.21 13.77

7177 0.65 292.6 2797 1642 2261 2133 166.6 8.9 564 7247 0.12 2.58 59.47 1.052 11270 0.154 0.122 2844 3052 1985 2047 1924 0 0 0 0 0 0 14.31 14.26 13.69

7541 0.65 292.6 2845 3053 2033 1908 119.8 12.4 604 7551 0.00 2.45 0.00 0.000 516 0.000 0.090 2848 1641 1971 2032 1910 0 0 0 0 0 0 28.83 14.33 28.83

7700 0.70 313.0 2850 1641 2033 1910 101.8 10.8 635 7729 0.00 2.55 20.10 1.035 9222 0.000 0.125 2849 3052 1899 1962 1837 0 0 0 0 0 0 28.83 14.39 13.90

8033 0.73 321.1 2851 3053 1945 1822 62.2 11.5 670 8041 0.00 2.40 0.00 0.000 516 0.000 0.089 2855 1648 1883 1944 1822 0 0 0 0 0 0 28.83 14.40 28.83

8080 0.79 353.6 2856 1648 1946 1823 57.5 10.1 679 8109 0.00 2.53 19.35 0.335 9222 0.000 0.125 2855 3049 1747 1810 1685 0 0 0 0 0 0 28.83 14.41 14.25

8414 0.88 420.8 2855 3049 1841 1685 27.0 8.2 714 8463 0.15 2.50 40.20 0.253 10756 0.141 0.092 2931 1642 1471 1528 1415 0 0 0 0 0 0 14.45 14.40 14.31

8552 0.97 490.0 2932 1642 1552 1415 12.8 8.1 739 8603 0.00 2.55 40.88 0.220 9222 0.000 0.127 2928 3051 1186 1227 1146 0 0 0 0 0 0 28.83 14.38 14.31

8897 1.23 719.1 2932 3054 1250 1146 6.3 -0.6 776 8999 0.30 1.42 95.28 0.196 10500 0.121 0.138 3034 3794 500 458 542 0 0 0 0 0 0 14.47 14.32 14.32

9002 end climb: SURFACE_DEPTH_REACHED

state 9002 begin surface coast

9007 end surface coast: CONTROL_FINISHED_OK

state 9007 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	20	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	29	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	16	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	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	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	5	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	-3346.2261	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	2630	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	37	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	290714,050744,7055.148,-14429.326,12,0.8,32,22.3	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	1.78	MHEAD_RNG_PITCHd_Wd	343.0,76544,-21.9,-11.905,-26.85,1887
_SM_ANGLEo	-74.8	D_GRID	1000
GPS2	290714,051733,7055.124,-14429.354,5,1.0,26,22.3

FINISH	1.3,1.018612	_10V_AH	12.62,0.000
SM_CCo	9090,0.00,0.000,0,0,504,657.89	FG_AHR_24Vo	0.000
SM_GC	2.25,8.40,1.75,0.00,0.084,0.086,0.000,205,2798,504,-7.52,1.10,657.89,0,0,0,0,0,0,14.40,14.40,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	569	MEM	303792
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26768,793
IRIDIUM_FIX	7019.90,-14425.45,290714,025634	CAP_FILE_SIZE	131290,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2089123840
HUMID	52.28	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
INTERNAL_PRESSURE	8.57378	INTR	0,8073.48,0x2378b6,7,5
TCM_TEMP	13.30	SOUNDSPEED	1448.9
XPDR_PINGS	0	EKF	9175,4256.195312,-8669.090820,1.281551,-0.181645,-0.011970,-0.076232,0.000150,0.001405,0.000098,0.000025,0.000025,0.000035
SC_FREEKB	4011424	CURRENT	0.053,152.16,1
TM_FREEKB	7725792	GPS	290714,075043,7055.944,-14428.714,20,0.9,40,22.3
_24V_AH	12.72,7.080

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	471	140.11	nil	0	0	0.00
Roll_motor	62	169	134.69	nil	0	0	0.00
VBD_pump_during_apogee	619	2701	21301.14	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	9030	15	1774.38
Iridium_during_xfer	370	198	936.86	TMICL	9073	13	1542.67
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	6629	2	193.26
TT8_Active	739	8	81.53
TT8_Sampling	2250	28	800.84
TT8_CF8	70	35	31.65
TT8_Kalman	0	0	0.00
Analog_circuits	1830	10	231.04
GPS_charging	0	0	0.00
Compass	1182	0	11.19
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	-0.69	-145.9	203	2797	492	598	0.0	0.0	0	84	0.00	0.00	-63.22	0.000	16386	0.000	0.000	202	2797	2161	2201	2122	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.69	-145.9	203	2796	2202	2122	4.0	-4.5	6	137	11.68	1.90	-29.90	0.000	19204	0.471	0.170	2388	3786	3785	3861	3710	0	0	0	0	0	0	14.14	14.29	14.52
221	-0.62	-145.9	2388	3787	3861	3708	37.2	-22.3	30	230	0.17	1.70	0.00	0.000	3078	0.344	0.085	2424	2791	3784	3861	3707	0	0	0	0	0	0	14.22	14.36	28.83
526	-0.62	-145.9	2424	2792	3862	3709	86.2	-14.2	61	529	0.00	0.00	0.00	0.000	6	0.000	0.000	2424	2791	3785	3861	3709	0	0	0	0	0	0	28.83	28.83	28.83
826	-0.65	-145.9	2424	2791	3861	3710	125.0	-12.1	91	834	0.00	2.40	0.00	0.000	516	0.000	0.092	2424	1384	3784	3860	3709	0	0	0	0	0	0	28.83	14.51	28.83
913	-0.70	-145.9	2426	1384	3861	3709	135.0	-11.2	108	924	0.00	2.55	0.00	0.000	1030	0.000	0.125	2415	2798	3785	3861	3709	0	0	0	0	0	0	28.83	14.48	28.83
1218	-0.73	-145.9	2416	2798	3861	3709	170.9	-11.6	139	1221	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	2798	3784	3860	3709	0	0	0	0	0	0	28.83	28.83	28.83
1518	-0.78	-145.9	2416	2798	3861	3708	201.5	-9.4	169	1526	0.12	2.42	0.00	0.000	4612	0.154	0.090	2356	1382	3783	3858	3709	0	0	0	0	0	0	14.58	14.56	28.83
1550	-0.78	-145.9	2360	1380	3860	3708	205.3	-11.8	175	1558	0.00	2.58	0.00	0.000	1030	0.000	0.129	2359	2805	3783	3858	3708	0	0	0	0	0	0	28.83	14.49	28.83
1863	-0.78	-145.9	2360	2803	3859	3710	241.9	-11.3	207	1870	0.00	2.42	0.00	0.000	516	0.000	0.092	2359	1382	3783	3858	3709	0	0	0	0	0	0	28.83	14.57	28.83
1895	-0.80	-145.9	2360	1382	3858	3709	245.6	-11.4	213	1903	0.00	2.55	0.00	0.000	1030	0.000	0.130	2359	2798	3783	3857	3709	0	0	0	0	0	0	28.83	14.53	28.83
2207	-0.80	-145.9	2360	2798	3858	3709	280.2	-11.1	227	2209	0.00	0.00	0.00	0.000	6	0.000	0.000	2359	2797	3782	3857	3708	0	0	0	0	0	0	28.83	28.83	28.83
2507	-0.80	-145.9	2357	2799	3857	3710	313.2	-11.0	237	2509	0.00	0.00	0.00	0.000	6	0.000	0.000	2359	2798	3783	3857	3709	0	0	0	0	0	0	28.83	28.83	28.83
2807	-0.82	-145.9	2357	2798	3857	3709	345.1	-10.6	247	2815	0.00	2.38	0.00	0.000	516	0.000	0.090	2359	1392	3783	3857	3709	0	0	0	0	0	0	28.83	14.62	28.83
2859	-0.86	-145.9	2360	1393	3856	3710	350.3	-9.2	257	2867	0.00	2.53	0.00	0.000	1030	0.000	0.128	2360	2802	3782	3856	3709	0	0	0	0	0	0	28.83	14.59	28.83
3171	-0.88	-145.9	2360	2801	3857	3709	382.6	-10.3	269	3174	0.00	0.00	0.00	0.000	6	0.000	0.000	2359	2802	3782	3855	3709	0	0	0	0	0	0	28.83	28.83	28.83
3471	-0.90	-145.9	2360	2803	3856	3710	413.4	-10.2	279	3479	0.00	2.40	0.00	0.000	516	0.000	0.091	2359	1385	3780	3854	3707	0	0	0	0	0	0	28.83	14.64	28.83
3534	-0.94	-145.9	2360	1385	3855	3710	419.7	-10.2	291	3541	0.00	2.53	0.00	0.000	1030	0.000	0.128	2365	2801	3779	3850	3709	0	0	0	0	0	0	28.83	14.61	28.83
3866	-0.96	-145.9	2360	2801	3855	3705	453.7	-10.2	307	3869	0.12	0.00	0.00	0.000	4102	0.159	0.000	2310	2801	3781	3854	3709	0	0	0	0	0	0	14.67	28.83	28.83
4165	-0.96	-145.9	2311	2803	3864	3709	491.2	-12.7	317	4173	0.00	2.40	0.00	0.000	516	0.000	0.090	2310	1382	3781	3854	3709	0	0	0	0	0	0	28.83	14.66	28.83
4217	-0.96	-145.9	2311	1382	3857	3709	497.5	-12.0	327	4225	0.00	2.53	0.00	0.000	1030	0.000	0.125	2302	2803	3781	3854	3709	0	0	0	0	0	0	28.83	14.62	28.83
4258	end dive: TARGET_DEPTH_EXCEEDED
state	4258	begin apogee
4261	-0.14	0.0	2302	3050	3855	3710	502.8	-12.5	330	4402	1.10	0.00	131.60	2.701	10246	0.306	0.000	2580	3049	3186	3264	3108	0	0	0	0	1	0	14.52	28.83	12.72
4404	end apogee: CONTROL_FINISHED_OK
state	4404	begin climb
4405	0.69	145.9	2581	3049	3282	3108	506.3	0.0	334	4549	0.90	1.48	130.95	1.505	10500	0.168	0.131	2843	3784	2584	2650	2518	0	0	0	0	0	0	13.71	13.66	13.18
4773	0.62	145.9	2851	3784	2635	2503	461.6	16.7	400	4782	0.00	1.33	0.00	0.000	1030	0.000	0.088	2848	3046	2569	2634	2504	0	0	0	0	0	0	28.83	14.12	28.83
5106	0.57	145.9	2850	3048	2635	2503	411.6	15.0	416	5116	0.15	1.35	0.00	0.000	4356	0.314	0.133	2814	3785	2568	2633	2503	0	0	0	0	0	0	14.22	14.30	28.83
5215	0.53	145.9	2814	3785	2635	2503	395.5	14.4	437	5223	0.00	1.30	0.00	0.000	1030	0.000	0.092	2819	3046	2569	2634	2504	0	0	0	0	0	0	28.83	14.38	28.83
5532	0.50	145.9	2819	3045	2635	2502	352.9	13.4	450	5535	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	3049	2568	2634	2503	0	0	0	0	0	0	28.83	28.83	28.83
5832	0.47	145.9	2820	3050	2635	2504	313.1	13.2	460	5834	0.15	0.00	0.00	0.000	4102	0.308	0.000	2786	3050	2568	2633	2503	0	0	0	0	0	0	14.42	28.83	28.83
6132	0.48	155.7	2786	3050	2635	2503	278.5	11.4	470	6138	0.00	0.00	3.10	0.760	8198	0.000	0.000	2786	3050	2550	2618	2482	0	0	0	0	0	0	28.83	28.83	13.94
6432	0.49	169.5	2787	3050	2639	2482	245.0	11.2	482	6456	0.00	0.00	17.92	1.231	8198	0.000	0.000	2786	3050	2486	2557	2415	0	0	0	0	0	0	28.83	28.83	14.00
6752	0.50	186.4	2787	3050	2546	2407	209.2	11.0	514	6775	0.00	0.00	14.55	1.193	8198	0.000	0.000	2786	3050	2414	2483	2345	0	0	0	0	0	0	28.83	28.83	13.97
7072	0.56	238.2	2787	3050	2475	2340	176.2	9.1	546	7127	0.00	2.45	46.55	1.180	8708	0.000	0.087	2796	1640	2202	2266	2139	0	0	0	0	0	0	28.83	14.21	13.77
7177	0.65	292.6	2797	1642	2261	2133	166.6	8.9	564	7247	0.12	2.58	59.47	1.052	11270	0.154	0.122	2844	3052	1985	2047	1924	0	0	0	0	0	0	14.31	14.26	13.69
7541	0.65	292.6	2845	3053	2033	1908	119.8	12.4	604	7551	0.00	2.45	0.00	0.000	516	0.000	0.090	2848	1641	1971	2032	1910	0	0	0	0	0	0	28.83	14.33	28.83
7700	0.70	313.0	2850	1641	2033	1910	101.8	10.8	635	7729	0.00	2.55	20.10	1.035	9222	0.000	0.125	2849	3052	1899	1962	1837	0	0	0	0	0	0	28.83	14.39	13.90
8033	0.73	321.1	2851	3053	1945	1822	62.2	11.5	670	8041	0.00	2.40	0.00	0.000	516	0.000	0.089	2855	1648	1883	1944	1822	0	0	0	0	0	0	28.83	14.40	28.83
8080	0.79	353.6	2856	1648	1946	1823	57.5	10.1	679	8109	0.00	2.53	19.35	0.335	9222	0.000	0.125	2855	3049	1747	1810	1685	0	0	0	0	0	0	28.83	14.41	14.25
8414	0.88	420.8	2855	3049	1841	1685	27.0	8.2	714	8463	0.15	2.50	40.20	0.253	10756	0.141	0.092	2931	1642	1471	1528	1415	0	0	0	0	0	0	14.45	14.40	14.31
8552	0.97	490.0	2932	1642	1552	1415	12.8	8.1	739	8603	0.00	2.55	40.88	0.220	9222	0.000	0.127	2928	3051	1186	1227	1146	0	0	0	0	0	0	28.83	14.38	14.31
8897	1.23	719.1	2932	3054	1250	1146	6.3	-0.6	776	8999	0.30	1.42	95.28	0.196	10500	0.121	0.138	3034	3794	500	458	542	0	0	0	0	0	0	14.47	14.32	14.32
9002	end climb: SURFACE_DEPTH_REACHED
state	9002	begin surface coast
9007	end surface coast: CONTROL_FINISHED_OK
state	9007	begin surface