Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 22 * 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 22 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 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 -3349.0652 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 -3349.0652

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 31 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 22 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 290714,103154,7056.513,-14428.974,37,0.9,57,22.3 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 1.85 MHEAD_RNG_PITCHd_Wd 336.5,74130,-21.9,-11.905,-26.85,1887

_SM_ANGLEo -70.5 D_GRID 1000

GPS2 290714,104237,7056.408,-14428.648,5,0.8,25,22.3

Post-dive calculations and measurements:

FINISH 0.9,1.017294 _10V_AH 12.75,0.000

SM_CCo 8868,14.60,0.190,0,0,539,649.06 FG_AHR_24Vo 0.000

SM_GC 2.28,8.45,0.45,14.60,0.106,0.112,0.190,203,2791,539,-7.51,0.62,649.06,0,0,0,0,0,0,14.42,14.40,14.33 FG_AHR_10Vo 0.000

RAFOS_CLK 272 MEM 302908

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 30057,844

IRIDIUM_FIX 7026.32,-14425.45,290714,075439 CAP_FILE_SIZE 131347,0

TT8_MAMPS 0.046438,0.046438 CFSIZE 2097872896,2088599552

HUMID 52.12 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.58355 INTR 0,9647.34,0x2378b6,7,5

TCM_TEMP 12.50 SOUNDSPEED 1450.1

XPDR_PINGS 0 EKF 8973,4257.449707,-8669.338867,0.867790,0.208082,-0.008261,0.012437,0.000132,0.001238,0.000099,0.003025,0.003025,0.000050

SC_FREEKB 4010528 CURRENT 0.068,153.92,1

TM_FREEKB 7697472 GPS 290714,131224,7057.168,-14428.897,31,0.9,51,22.3

_24V_AH 13.25,7.767

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 471 141.43 nil 0 0 0.00

Roll_motor 56 147 110.63 nil 0 0 0.00

VBD_pump_during_apogee 627 1419 11808.37 nil 0 0 0.00

VBD_pump_during_surface 14 189 36.70 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 8874 15 1827.91

Iridium_during_xfer 401 201 1073.26 TMICL 8925 13 1577.89

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 0 0.26

TT8 0 0 0.00

LPSleep 6308 2 185.80

TT8_Active 762 8 84.86

TT8_Sampling 2379 28 855.64

TT8_CF8 75 35 34.13

TT8_Kalman 0 0 0.00

Analog_circuits 1906 10 243.05

GPS_charging 0 0 0.00

Compass 1246 0 11.92

RAFOS 1497 48 916.16

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 -0.69 -145.9 210 2792 488 609 0.0 0.0 0 85 0.00 0.00 -63.55 0.000 16386 0.000 0.000 210 2793 2114 2154 2075 0 0 0 0 0 0 28.83 28.83 28.83

87 -0.69 -145.9 211 2793 2156 2077 3.2 -2.6 6 137 11.62 2.50 -32.83 0.000 18948 0.471 0.116 2395 1393 3781 3851 3712 0 0 0 0 0 0 14.14 14.30 14.53

302 -0.66 -145.9 2395 1393 3852 3717 45.4 -17.8 46 309 0.00 2.55 0.00 0.000 1030 0.000 0.124 2389 2797 3783 3852 3715 0 0 0 0 0 0 28.83 14.35 28.83

613 -0.66 -145.9 2391 2798 3852 3718 98.8 -15.5 78 615 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2798 3784 3851 3717 0 0 0 0 0 0 28.83 28.83 28.83

913 -0.66 -145.9 2391 2797 3853 3717 143.3 -14.4 108 923 0.00 2.40 0.00 0.000 516 0.000 0.089 2390 1392 3784 3851 3717 0 0 0 0 0 0 28.83 14.52 28.83

1002 -0.68 -145.9 2391 1392 3852 3717 155.1 -12.2 125 1011 0.00 2.55 0.00 0.000 1030 0.000 0.125 2387 2806 3784 3851 3717 0 0 0 0 0 0 28.83 14.47 28.83

1307 -0.68 -145.9 2388 2806 3852 3717 192.1 -11.4 156 1317 0.00 2.40 0.00 0.000 516 0.000 0.088 2387 1392 3784 3852 3717 0 0 0 0 0 0 28.83 14.54 28.83

1371 -0.72 -145.9 2388 1393 3852 3722 199.1 -11.0 168 1381 0.00 2.55 0.00 0.000 1030 0.000 0.127 2387 2809 3783 3851 3716 0 0 0 0 0 0 28.83 14.49 28.83

1685 -0.74 -145.9 2388 2809 3852 3716 232.1 -10.0 200 1695 0.00 2.40 0.00 0.000 516 0.000 0.089 2388 1394 3783 3851 3715 0 0 0 0 0 0 28.83 14.54 28.83

1734 -0.79 -145.9 2388 1394 3852 3722 237.2 -10.3 209 1743 0.00 2.53 0.00 0.000 1030 0.000 0.127 2387 2798 3783 3851 3715 0 0 0 0 0 0 28.83 14.53 28.83

2049 -0.82 -145.9 2388 2799 3852 3716 267.7 -9.6 229 2053 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2798 3783 3851 3715 0 0 0 0 0 0 28.83 28.83 28.83

2349 -0.86 -145.9 2388 2798 3852 3715 296.3 -9.4 239 2357 0.12 2.40 0.00 0.000 4612 0.161 0.087 2332 1387 3782 3850 3715 0 0 0 0 0 0 14.62 14.61 28.83

2446 -0.86 -145.9 2333 1386 3851 3715 307.5 -11.4 258 2454 0.00 2.53 0.00 0.000 1030 0.000 0.125 2327 2798 3782 3850 3714 0 0 0 0 0 0 28.83 14.59 28.83

2774 -0.86 -145.9 2328 2798 3851 3709 347.9 -12.6 273 2776 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 2798 3782 3850 3714 0 0 0 0 0 0 28.83 28.83 28.83

3073 -0.86 -145.9 2327 2798 3851 3715 385.1 -12.4 283 3081 0.00 2.38 0.00 0.000 516 0.000 0.088 2327 1391 3781 3848 3715 0 0 0 0 0 0 28.83 14.64 28.83

3170 -0.86 -145.9 2327 1390 3850 3715 396.8 -12.0 302 3179 0.15 2.53 0.00 0.000 3078 0.339 0.123 2348 2809 3782 3849 3715 0 0 0 0 0 0 14.51 14.60 28.83

3498 -0.86 -145.9 2348 2808 3850 3715 433.9 -11.3 317 3505 0.00 2.40 0.00 0.000 516 0.000 0.088 2348 1385 3781 3848 3715 0 0 0 0 0 0 28.83 14.63 28.83

3549 -0.88 -145.9 2349 1386 3849 3716 439.4 -10.3 327 3557 0.00 2.53 0.00 0.000 1030 0.000 0.125 2347 2800 3781 3848 3714 0 0 0 0 0 0 28.83 14.61 28.83

3862 -0.88 -145.9 2346 2796 3849 3716 473.6 -10.8 339 3864 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2796 3781 3848 3715 0 0 0 0 0 0 28.83 28.83 28.83

4130 end dive: TARGET_DEPTH_EXCEEDED

state 4130 begin apogee

4133 -0.14 0.0 2347 3055 3849 3714 502.8 -10.7 348 4321 0.90 0.00 182.60 1.399 10246 0.288 0.000 2579 3056 3184 3262 3107 0 0 0 0 0 0 14.54 28.83 13.40

4322 end apogee: CONTROL_FINISHED_OK

state 4322 begin climb

4323 0.69 145.9 2582 3056 3257 3101 507.4 0.0 354 4462 0.88 1.48 124.12 1.420 10500 0.169 0.132 2839 3790 2582 2648 2517 0 0 0 0 0 0 13.88 13.72 13.25

4695 0.63 145.9 2840 3790 2630 2501 459.6 16.3 419 4704 0.00 1.33 0.00 0.000 1030 0.000 0.086 2845 3047 2565 2629 2501 0 0 0 0 0 0 28.83 14.22 28.83

5001 0.58 145.9 2852 3047 2631 2501 413.9 14.8 430 5008 0.00 1.40 0.00 0.000 260 0.000 0.136 2845 3784 2565 2630 2501 0 0 0 0 0 0 28.83 14.27 28.83

5232 0.51 145.9 2845 3785 2630 2501 375.3 16.9 476 5241 0.17 1.30 0.00 0.000 5126 0.298 0.086 2804 3051 2565 2630 2500 0 0 0 0 0 0 14.22 14.35 28.83

5546 0.51 145.9 2805 3046 2630 2501 334.8 12.7 488 5556 0.00 1.40 0.00 0.000 260 0.000 0.135 2804 3790 2568 2636 2500 0 0 0 0 0 0 28.83 14.38 28.83

5655 0.47 145.9 2805 3790 2630 2501 319.7 13.7 509 5663 0.00 1.30 0.00 0.000 1030 0.000 0.087 2809 3048 2564 2629 2500 0 0 0 0 0 0 28.83 14.44 28.83

5973 0.47 145.9 2811 3045 2631 2501 279.0 12.7 522 5975 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 3048 2564 2629 2500 0 0 0 0 0 0 28.83 28.83 28.83

6272 0.47 145.9 2810 3048 2630 2501 241.7 12.0 536 6275 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 3048 2564 2629 2500 0 0 0 0 0 0 28.83 28.83 28.83

6572 0.48 157.1 2810 3047 2630 2500 206.5 11.3 566 6579 0.00 0.00 3.97 0.878 8198 0.000 0.000 2809 3048 2543 2611 2476 0 0 0 0 0 0 28.83 28.83 13.95

6873 0.51 199.1 2810 3047 2629 2475 175.1 9.6 596 6923 0.00 2.50 43.28 1.147 8708 0.000 0.086 2820 1641 2364 2432 2297 0 0 0 0 0 0 28.83 14.28 13.85

6992 0.55 228.1 2822 1642 2413 2288 163.6 10.3 617 7028 0.00 2.55 25.90 1.118 9222 0.000 0.122 2820 3047 2243 2308 2178 0 0 0 0 0 0 28.83 14.30 13.79

7322 0.58 258.7 2821 3048 2293 2166 128.1 10.2 652 7359 0.00 2.47 26.65 1.076 8708 0.000 0.089 2828 1640 2117 2182 2052 0 0 0 0 0 0 28.83 14.23 13.85

7409 0.65 303.1 2829 1636 2172 2047 119.8 9.5 666 7458 0.00 2.58 40.83 1.027 9222 0.000 0.122 2828 3051 1942 2003 1881 0 0 0 0 0 0 28.83 14.29 13.72

7762 0.70 322.2 2830 3052 1983 1862 80.9 10.9 704 7778 0.00 0.00 7.18 0.320 8198 0.000 0.000 2828 3052 1878 1947 1809 0 0 0 0 0 0 28.83 28.83 14.16

8072 0.80 399.7 2829 3052 1976 1814 50.5 7.7 735 8126 0.15 0.00 45.55 0.328 10758 0.145 0.000 2895 3051 1559 1619 1500 0 0 0 0 0 0 14.44 28.83 14.23

8422 0.88 457.8 2896 3052 1634 1501 12.7 8.7 772 8466 0.00 1.40 34.38 0.222 8452 0.000 0.142 2894 3791 1320 1374 1267 0 0 0 0 0 0 28.83 14.38 14.34

8690 1.08 625.4 2896 3792 1389 1268 10.5 2.8 823 8794 0.20 1.30 93.22 0.206 11270 0.091 0.093 2983 3048 635 601 669 0 0 0 0 0 0 14.47 14.47 14.29

8827 end climb: SURFACE_DEPTH_REACHED

state 8827 begin surface coast

8847 end surface coast: CONTROL_FINISHED_OK

state 8847 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	22	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	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	-3349.0652	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	290714,103154,7056.513,-14428.974,37,0.9,57,22.3	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	1.85	MHEAD_RNG_PITCHd_Wd	336.5,74130,-21.9,-11.905,-26.85,1887
_SM_ANGLEo	-70.5	D_GRID	1000
GPS2	290714,104237,7056.408,-14428.648,5,0.8,25,22.3

FINISH	0.9,1.017294	_10V_AH	12.75,0.000
SM_CCo	8868,14.60,0.190,0,0,539,649.06	FG_AHR_24Vo	0.000
SM_GC	2.28,8.45,0.45,14.60,0.106,0.112,0.190,203,2791,539,-7.51,0.62,649.06,0,0,0,0,0,0,14.42,14.40,14.33	FG_AHR_10Vo	0.000
RAFOS_CLK	272	MEM	302908
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	30057,844
IRIDIUM_FIX	7026.32,-14425.45,290714,075439	CAP_FILE_SIZE	131347,0
TT8_MAMPS	0.046438,0.046438	CFSIZE	2097872896,2088599552
HUMID	52.12	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.58355	INTR	0,9647.34,0x2378b6,7,5
TCM_TEMP	12.50	SOUNDSPEED	1450.1
XPDR_PINGS	0	EKF	8973,4257.449707,-8669.338867,0.867790,0.208082,-0.008261,0.012437,0.000132,0.001238,0.000099,0.003025,0.003025,0.000050
SC_FREEKB	4010528	CURRENT	0.068,153.92,1
TM_FREEKB	7697472	GPS	290714,131224,7057.168,-14428.897,31,0.9,51,22.3
_24V_AH	13.25,7.767

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	471	141.43	nil	0	0	0.00
Roll_motor	56	147	110.63	nil	0	0	0.00
VBD_pump_during_apogee	627	1419	11808.37	nil	0	0	0.00
VBD_pump_during_surface	14	189	36.70	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	8874	15	1827.91
Iridium_during_xfer	401	201	1073.26	TMICL	8925	13	1577.89
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	0	0.26
TT8	0	0	0.00
LPSleep	6308	2	185.80
TT8_Active	762	8	84.86
TT8_Sampling	2379	28	855.64
TT8_CF8	75	35	34.13
TT8_Kalman	0	0	0.00
Analog_circuits	1906	10	243.05
GPS_charging	0	0	0.00
Compass	1246	0	11.92
RAFOS	1497	48	916.16
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	-0.69	-145.9	210	2792	488	609	0.0	0.0	0	85	0.00	0.00	-63.55	0.000	16386	0.000	0.000	210	2793	2114	2154	2075	0	0	0	0	0	0	28.83	28.83	28.83
87	-0.69	-145.9	211	2793	2156	2077	3.2	-2.6	6	137	11.62	2.50	-32.83	0.000	18948	0.471	0.116	2395	1393	3781	3851	3712	0	0	0	0	0	0	14.14	14.30	14.53
302	-0.66	-145.9	2395	1393	3852	3717	45.4	-17.8	46	309	0.00	2.55	0.00	0.000	1030	0.000	0.124	2389	2797	3783	3852	3715	0	0	0	0	0	0	28.83	14.35	28.83
613	-0.66	-145.9	2391	2798	3852	3718	98.8	-15.5	78	615	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2798	3784	3851	3717	0	0	0	0	0	0	28.83	28.83	28.83
913	-0.66	-145.9	2391	2797	3853	3717	143.3	-14.4	108	923	0.00	2.40	0.00	0.000	516	0.000	0.089	2390	1392	3784	3851	3717	0	0	0	0	0	0	28.83	14.52	28.83
1002	-0.68	-145.9	2391	1392	3852	3717	155.1	-12.2	125	1011	0.00	2.55	0.00	0.000	1030	0.000	0.125	2387	2806	3784	3851	3717	0	0	0	0	0	0	28.83	14.47	28.83
1307	-0.68	-145.9	2388	2806	3852	3717	192.1	-11.4	156	1317	0.00	2.40	0.00	0.000	516	0.000	0.088	2387	1392	3784	3852	3717	0	0	0	0	0	0	28.83	14.54	28.83
1371	-0.72	-145.9	2388	1393	3852	3722	199.1	-11.0	168	1381	0.00	2.55	0.00	0.000	1030	0.000	0.127	2387	2809	3783	3851	3716	0	0	0	0	0	0	28.83	14.49	28.83
1685	-0.74	-145.9	2388	2809	3852	3716	232.1	-10.0	200	1695	0.00	2.40	0.00	0.000	516	0.000	0.089	2388	1394	3783	3851	3715	0	0	0	0	0	0	28.83	14.54	28.83
1734	-0.79	-145.9	2388	1394	3852	3722	237.2	-10.3	209	1743	0.00	2.53	0.00	0.000	1030	0.000	0.127	2387	2798	3783	3851	3715	0	0	0	0	0	0	28.83	14.53	28.83
2049	-0.82	-145.9	2388	2799	3852	3716	267.7	-9.6	229	2053	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2798	3783	3851	3715	0	0	0	0	0	0	28.83	28.83	28.83
2349	-0.86	-145.9	2388	2798	3852	3715	296.3	-9.4	239	2357	0.12	2.40	0.00	0.000	4612	0.161	0.087	2332	1387	3782	3850	3715	0	0	0	0	0	0	14.62	14.61	28.83
2446	-0.86	-145.9	2333	1386	3851	3715	307.5	-11.4	258	2454	0.00	2.53	0.00	0.000	1030	0.000	0.125	2327	2798	3782	3850	3714	0	0	0	0	0	0	28.83	14.59	28.83
2774	-0.86	-145.9	2328	2798	3851	3709	347.9	-12.6	273	2776	0.00	0.00	0.00	0.000	6	0.000	0.000	2327	2798	3782	3850	3714	0	0	0	0	0	0	28.83	28.83	28.83
3073	-0.86	-145.9	2327	2798	3851	3715	385.1	-12.4	283	3081	0.00	2.38	0.00	0.000	516	0.000	0.088	2327	1391	3781	3848	3715	0	0	0	0	0	0	28.83	14.64	28.83
3170	-0.86	-145.9	2327	1390	3850	3715	396.8	-12.0	302	3179	0.15	2.53	0.00	0.000	3078	0.339	0.123	2348	2809	3782	3849	3715	0	0	0	0	0	0	14.51	14.60	28.83
3498	-0.86	-145.9	2348	2808	3850	3715	433.9	-11.3	317	3505	0.00	2.40	0.00	0.000	516	0.000	0.088	2348	1385	3781	3848	3715	0	0	0	0	0	0	28.83	14.63	28.83
3549	-0.88	-145.9	2349	1386	3849	3716	439.4	-10.3	327	3557	0.00	2.53	0.00	0.000	1030	0.000	0.125	2347	2800	3781	3848	3714	0	0	0	0	0	0	28.83	14.61	28.83
3862	-0.88	-145.9	2346	2796	3849	3716	473.6	-10.8	339	3864	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2796	3781	3848	3715	0	0	0	0	0	0	28.83	28.83	28.83
4130	end dive: TARGET_DEPTH_EXCEEDED
state	4130	begin apogee
4133	-0.14	0.0	2347	3055	3849	3714	502.8	-10.7	348	4321	0.90	0.00	182.60	1.399	10246	0.288	0.000	2579	3056	3184	3262	3107	0	0	0	0	0	0	14.54	28.83	13.40
4322	end apogee: CONTROL_FINISHED_OK
state	4322	begin climb
4323	0.69	145.9	2582	3056	3257	3101	507.4	0.0	354	4462	0.88	1.48	124.12	1.420	10500	0.169	0.132	2839	3790	2582	2648	2517	0	0	0	0	0	0	13.88	13.72	13.25
4695	0.63	145.9	2840	3790	2630	2501	459.6	16.3	419	4704	0.00	1.33	0.00	0.000	1030	0.000	0.086	2845	3047	2565	2629	2501	0	0	0	0	0	0	28.83	14.22	28.83
5001	0.58	145.9	2852	3047	2631	2501	413.9	14.8	430	5008	0.00	1.40	0.00	0.000	260	0.000	0.136	2845	3784	2565	2630	2501	0	0	0	0	0	0	28.83	14.27	28.83
5232	0.51	145.9	2845	3785	2630	2501	375.3	16.9	476	5241	0.17	1.30	0.00	0.000	5126	0.298	0.086	2804	3051	2565	2630	2500	0	0	0	0	0	0	14.22	14.35	28.83
5546	0.51	145.9	2805	3046	2630	2501	334.8	12.7	488	5556	0.00	1.40	0.00	0.000	260	0.000	0.135	2804	3790	2568	2636	2500	0	0	0	0	0	0	28.83	14.38	28.83
5655	0.47	145.9	2805	3790	2630	2501	319.7	13.7	509	5663	0.00	1.30	0.00	0.000	1030	0.000	0.087	2809	3048	2564	2629	2500	0	0	0	0	0	0	28.83	14.44	28.83
5973	0.47	145.9	2811	3045	2631	2501	279.0	12.7	522	5975	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	3048	2564	2629	2500	0	0	0	0	0	0	28.83	28.83	28.83
6272	0.47	145.9	2810	3048	2630	2501	241.7	12.0	536	6275	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	3048	2564	2629	2500	0	0	0	0	0	0	28.83	28.83	28.83
6572	0.48	157.1	2810	3047	2630	2500	206.5	11.3	566	6579	0.00	0.00	3.97	0.878	8198	0.000	0.000	2809	3048	2543	2611	2476	0	0	0	0	0	0	28.83	28.83	13.95
6873	0.51	199.1	2810	3047	2629	2475	175.1	9.6	596	6923	0.00	2.50	43.28	1.147	8708	0.000	0.086	2820	1641	2364	2432	2297	0	0	0	0	0	0	28.83	14.28	13.85
6992	0.55	228.1	2822	1642	2413	2288	163.6	10.3	617	7028	0.00	2.55	25.90	1.118	9222	0.000	0.122	2820	3047	2243	2308	2178	0	0	0	0	0	0	28.83	14.30	13.79
7322	0.58	258.7	2821	3048	2293	2166	128.1	10.2	652	7359	0.00	2.47	26.65	1.076	8708	0.000	0.089	2828	1640	2117	2182	2052	0	0	0	0	0	0	28.83	14.23	13.85
7409	0.65	303.1	2829	1636	2172	2047	119.8	9.5	666	7458	0.00	2.58	40.83	1.027	9222	0.000	0.122	2828	3051	1942	2003	1881	0	0	0	0	0	0	28.83	14.29	13.72
7762	0.70	322.2	2830	3052	1983	1862	80.9	10.9	704	7778	0.00	0.00	7.18	0.320	8198	0.000	0.000	2828	3052	1878	1947	1809	0	0	0	0	0	0	28.83	28.83	14.16
8072	0.80	399.7	2829	3052	1976	1814	50.5	7.7	735	8126	0.15	0.00	45.55	0.328	10758	0.145	0.000	2895	3051	1559	1619	1500	0	0	0	0	0	0	14.44	28.83	14.23
8422	0.88	457.8	2896	3052	1634	1501	12.7	8.7	772	8466	0.00	1.40	34.38	0.222	8452	0.000	0.142	2894	3791	1320	1374	1267	0	0	0	0	0	0	28.83	14.38	14.34
8690	1.08	625.4	2896	3792	1389	1268	10.5	2.8	823	8794	0.20	1.30	93.22	0.206	11270	0.091	0.093	2983	3048	635	601	669	0	0	0	0	0	0	14.47	14.47	14.29
8827	end climb: SURFACE_DEPTH_REACHED
state	8827	begin surface coast
8847	end surface coast: CONTROL_FINISHED_OK
state	8847	begin surface