Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 223 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 180 C_ROLL_CLIMB 2740 ALTIM_FREQUENCY 13

MISSION 7 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 223 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 51 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 676.53741 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.75

D_ABORT 800 N_FILEKB 8 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 2 ROLL_ADJ_GAIN 1.5 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0.050000001 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 3258 DEVICE4 -1

D_SAFE 500 NOCOMM_ACTION 161 VBD_DBAND 2 DEVICE5 -1

D_CALL 3 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 5 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 1

SURFACE_URGENCY_TRY 5 CALL_TRIES 3 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 10 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 20 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -5294.1025 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 1 RAFOS_PEAK_OFFSET 0 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.050000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044209026

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00065043929

T_WATCHDOG 10 PITCH_MIN 208 MINV_10V 11 SEABIRD_T_I 2.5803243e-05

RELAUNCH 1 PITCH_MAX 3896 FG_AHR_10V 0 SEABIRD_T_J 3.1106315e-06

APOGEE_PITCH -5 C_PITCH 2895 FG_AHR_24V 0 SEABIRD_C_G -9.7475271

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1204907

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -73.350418 SEABIRD_C_I -0.00083350006

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001164176 SEABIRD_C_J 0.00013962483

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 38 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54281 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 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 10 TM_LOGSAMPLE 0.0

HD_A 0.0043000001 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3787 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 4.3e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2760 ALTIM_PING_DELTA 20

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 750 PITCH_GAIN 38 SURFACE_URGENCY_FORCE 10

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3896 SURFACE_URGENCY_TRY 5

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 10 FERRY_MAX 45 PITCH_MIN 208 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 20 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 TGT_DEFAULT_LAT 7100

ALTIM_PING_DEPTH 0 FILEMGR 2 PITCH_W_DBAND 0 TGT_DEFAULT_LON -14430

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 4 PITCH_W_GAIN 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001164176 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -73.350418 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0043000001 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 4.3e-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 0.050000001 RAFOS_PEAK_OFFSET 0 T_GPS 3

CAPUPLOAD 0 ID 196 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -5294.1025

COMM_SEQ 0 INT_PRESSURE_YINT 0.75 ROLL_ADJ_DBAND 0.050000001 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 1.5 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 2895 LOGGERDEVICE4 -1 ROLL_MAX 3787 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2740 LOGGERS 1 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2760 MASS 54281 ROLL_MIN 218 UNCOM_BLEED 20

C_VBD 3258 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 51 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 28 USE_ICE 1

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 7 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 -9.7475271 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1204907 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.00083350006 VBD_MIN 500

DIVE 223 N_FILEKB 8 SEABIRD_C_J 0.00013962483 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 800 N_GPS -20 SEABIRD_T_G 0.0044209026 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00065043929 VBD_TIMEOUT 720

D_CALL 3 N_NOSURFACE 0 SEABIRD_T_I 2.5803243e-05 W_ADJ_DBAND 0

D_FINISH 9 PHONE_DEVICE 49 SEABIRD_T_J 3.1106315e-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 676.53741

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 270814,055624,7332.342,-14509.569,38,0.8,58,22.8 SPEED_LIMITS 0.201,0.252

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7400.000,-14510.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.78 MHEAD_RNG_PITCHd_Wd 337.0,51149,-22.3,-11.628,-24.76,1933

_SM_ANGLEo -78.7 D_GRID 1000

GPS2 270814,060340,7332.382,-14509.570,5,0.9,25,22.8

Post-dive calculations and measurements:

FREEZE 0.81,-1.205,-0.564,2,1,0 _24V_AH 12.70,67.416

FINISH 0.8,1.008221 _10V_AH 13.04,0.000

SM_CCo 11861,0.00,0.000,0,0,494,678.01 FG_AHR_24Vo 0.000

SM_GC 1.96,9.38,0.00,0.00,0.079,0.000,0.000,199,2736,494,-8.37,-0.68,678.01,0,0,0,0,0,0,14.32,28.83,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 249 MEM 234828

RAFOS_FIX 7324.021484,-14457.928711,260814,121206,2,255,0.38 DATA_FILE_SIZE 26745,777

IRIDIUM_FIX 7250.09,-14501.10,270814,023406 CAP_FILE_SIZE 124723,0

TT8_MAMPS 0.043442,0.043442 CFSIZE 2097872896,2048491520

HUMID 45.03 ERRORS 0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.55303 INTR 2,11788.45,0x2378b6,7,5

TCM_TEMP 12.50 SOUNDSPEED 1448.0

XPDR_PINGS 8 GPS 270814,092254,7333.744,-14509.102,27,0.8,47,22.8

SC_FREEKB 3838752

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 400 119.51 nil 0 0 0.00

Roll_motor 33 126 53.82 nil 0 0 0.00

VBD_pump_during_apogee 562 2015 14387.05 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 11816 18 2770.02

Iridium_during_xfer 260 149 495.24 TMICL 0 0 0.00

Transponder_ping 2 420 10.67 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.29

TT8 0 0 0.00

LPSleep 9596 2 289.06

TT8_Active 668 9 82.61

TT8_Sampling 1868 28 705.45

TT8_CF8 160 35 74.49

TT8_Kalman 0 0 0.00

Analog_circuits 1537 10 200.51

GPS_charging 0 0 0.00

Compass 1158 0 11.33

RAFOS 1472 48 921.35

Transponder 0 5 0.04

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.69 -145.9 203 2773 429 549 0.0 0.0 0 90 0.00 0.00 -71.88 0.000 16386 0.000 0.000 202 2773 2264 2276 2252 0 0 0 0 0 0 28.83 28.83 28.83

92 -0.69 -145.9 203 2774 2277 2255 3.5 -3.5 7 141 12.10 1.83 -29.00 0.000 18692 0.401 0.126 2657 3777 3856 3920 3792 0 0 0 0 0 0 14.01 14.23 14.47

365 -0.69 -145.9 2658 3778 3922 3796 89.4 -23.3 62 372 0.00 1.70 0.00 0.000 1030 0.000 0.053 2656 2754 3857 3920 3795 0 0 0 0 0 0 28.83 14.35 28.83

671 -0.69 -145.9 2658 2755 3921 3796 154.3 -20.3 93 676 0.00 1.85 0.00 0.000 260 0.000 0.103 2649 3775 3857 3920 3795 0 0 0 0 0 0 28.83 14.36 28.83

901 -0.69 -145.9 2649 3776 3922 3795 202.1 -19.7 139 906 0.00 1.67 0.00 0.000 1030 0.000 0.054 2649 2763 3857 3920 3795 0 0 0 0 0 0 28.83 14.48 28.83

1231 -0.69 -145.9 2649 2764 3922 3797 259.3 -15.7 169 1236 0.00 1.83 0.00 0.000 260 0.000 0.103 2640 3780 3857 3920 3795 0 0 0 0 0 0 28.83 14.39 28.83

1431 -0.69 -145.9 2641 3781 3922 3795 293.3 -16.9 209 1436 0.08 1.67 0.00 0.000 3078 0.233 0.055 2660 2767 3857 3920 3795 0 0 0 0 0 0 14.33 14.54 28.83

1742 -0.69 -145.9 2661 2767 3921 3796 336.0 -13.3 221 1742 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2766 3857 3919 3795 0 0 0 0 0 0 28.83 28.83 28.83

2041 -0.69 -145.9 2660 2766 3921 3795 375.3 -13.0 231 2046 0.00 2.35 0.00 0.000 516 0.000 0.067 2660 1360 3857 3920 3795 0 0 0 0 0 0 28.83 14.50 28.83

2090 -0.69 -145.9 2661 1360 3922 3795 381.5 -12.7 241 2096 0.00 2.50 0.00 0.000 1030 0.000 0.097 2651 2755 3857 3920 3795 0 0 0 0 0 0 28.83 14.47 28.83

2401 -0.69 -145.9 2652 2756 3921 3796 423.2 -13.5 253 2402 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2755 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

2701 -0.69 -145.9 2652 2755 3922 3795 463.3 -13.3 263 2701 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2755 3857 3920 3795 0 0 0 0 0 0 28.83 28.83 28.83

3001 -0.69 -145.9 2652 2755 3922 3795 503.4 -13.3 273 3001 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2754 3857 3920 3795 0 0 0 0 0 0 28.83 28.83 28.83

3301 -0.69 -145.9 2652 2756 3921 3795 543.1 -13.1 283 3301 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2754 3857 3920 3795 0 0 0 0 0 0 28.83 28.83 28.83

3601 -0.69 -145.9 2652 2755 3921 3795 582.4 -12.9 293 3601 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2755 3857 3920 3795 0 0 0 0 0 0 28.83 28.83 28.83

3901 -0.69 -145.9 2652 2755 3921 3796 620.7 -12.8 303 3901 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2755 3857 3920 3795 0 0 0 0 0 0 28.83 28.83 28.83

4201 -0.69 -145.9 2652 2756 3921 3796 658.7 -12.7 313 4201 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2755 3857 3920 3795 0 0 0 0 0 0 28.83 28.83 28.83

4501 -0.69 -145.9 2652 2755 3922 3795 696.6 -12.6 323 4501 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2755 3857 3920 3795 0 0 0 0 0 0 28.83 28.83 28.83

4801 -0.69 -145.9 2652 2755 3922 3795 734.0 -12.4 333 4801 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2755 3857 3919 3795 0 0 0 0 0 0 28.83 28.83 28.83

4949 end dive: TARGET_DEPTH_EXCEEDED

state 4949 begin apogee

4953 -0.13 0.0 2652 2756 3921 3796 752.7 -12.4 338 5081 0.73 0.00 125.90 2.015 10246 0.226 0.000 2847 2755 3257 3277 3237 0 0 0 0 0 0 14.47 28.83 13.14

5082 end apogee: CONTROL_FINISHED_OK

state 5082 begin climb

5084 0.69 145.9 2848 2755 3274 3234 756.5 0.0 342 5213 0.90 0.00 125.75 1.834 10246 0.121 0.000 3116 2755 2661 2666 2656 0 0 0 0 0 0 13.80 28.83 12.70

5491 0.69 145.9 3118 2756 2664 2645 714.4 13.5 356 5491 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2755 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

5791 0.69 145.9 3117 2755 2665 2644 674.6 13.2 366 5791 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2755 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

6091 0.69 145.9 3118 2756 2664 2645 634.5 13.3 376 6091 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2755 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

6391 0.69 145.9 3118 2756 2664 2645 594.8 13.3 386 6396 0.00 1.85 0.00 0.000 260 0.000 0.099 3117 3786 2653 2663 2643 0 0 0 0 0 0 28.83 14.43 28.83

6425 0.69 145.9 3118 3787 2664 2644 589.5 15.5 393 6431 0.00 1.73 0.00 0.000 1030 0.000 0.050 3124 2738 2653 2663 2644 0 0 0 0 0 0 28.83 14.50 28.83

6752 0.69 145.9 3125 2737 2664 2643 545.1 13.6 408 6753 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2737 2652 2663 2642 0 0 0 0 0 0 28.83 28.83 28.83

7052 0.69 145.9 3125 2737 2664 2643 504.6 13.5 418 7053 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2737 2653 2663 2643 0 0 0 0 0 0 28.83 28.83 28.83

7351 0.69 145.9 3125 2736 2664 2643 464.9 13.3 428 7352 0.00 0.00 0.00 0.000 6 0.000 0.000 3126 2736 2656 2670 2643 0 0 0 0 0 0 28.83 28.83 28.83

7651 0.69 145.9 3125 2737 2665 2642 425.9 13.0 438 7652 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2737 2653 2663 2643 0 0 0 0 0 0 28.83 28.83 28.83

7951 0.69 145.9 3125 2737 2664 2643 387.7 12.5 448 7951 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2737 2653 2663 2643 0 0 0 0 0 0 28.83 28.83 28.83

8251 0.69 145.9 3125 2737 2668 2643 350.2 12.5 458 8251 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2735 2653 2663 2643 0 0 0 0 0 0 28.83 28.83 28.83

8551 0.69 145.9 3125 2737 2665 2643 313.6 12.2 468 8552 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2737 2654 2665 2643 0 0 0 0 0 0 28.83 28.83 28.83

8851 0.69 151.1 3125 2737 2664 2644 278.7 11.4 478 8854 0.00 0.00 1.62 0.364 8198 0.000 0.000 3125 2737 2642 2654 2631 0 0 0 0 0 0 28.83 28.83 14.00

9152 0.71 178.9 3126 2738 2673 2635 246.8 10.2 490 9182 0.00 0.00 27.23 1.284 8198 0.000 0.000 3125 2737 2524 2533 2515 0 0 0 0 0 0 28.83 28.83 13.85

9482 0.75 231.8 3125 2737 2533 2510 213.4 8.8 523 9533 0.00 2.38 44.45 1.268 8708 0.000 0.065 3135 1353 2306 2309 2303 0 0 0 0 0 0 28.83 14.23 13.64

9568 0.78 273.6 3136 1354 2306 2303 205.6 9.4 537 9608 0.00 2.47 35.22 1.299 9222 0.000 0.092 3135 2742 2139 2140 2138 0 0 0 0 0 0 28.83 14.23 13.53

9913 0.79 283.4 3136 2744 2139 2125 165.6 11.1 576 9924 0.00 0.00 7.97 1.287 8198 0.000 0.000 3135 2742 2099 2107 2092 0 0 0 0 0 0 28.83 28.83 13.73

10223 0.81 323.5 3136 2742 2107 2088 133.3 9.5 607 10264 0.00 0.00 34.75 1.189 8198 0.000 0.000 3135 2742 1934 1935 1934 0 0 0 0 0 0 28.83 28.83 13.68

10564 0.84 358.8 3136 2741 1934 1926 98.4 9.8 641 10584 0.00 0.00 15.38 0.493 8198 0.000 0.000 3134 2742 1797 1798 1796 0 0 0 0 0 0 28.83 28.83 13.96

10884 0.88 413.7 3136 2742 1806 1792 68.4 8.7 673 10915 0.12 2.40 25.33 0.392 10756 0.125 0.066 3201 1348 1570 1575 1566 0 0 0 0 0 0 14.34 14.23 14.01

10951 0.88 413.7 3202 1348 1577 1565 60.6 11.7 686 10957 0.00 2.47 0.00 0.000 1030 0.000 0.093 3201 2735 1570 1577 1563 0 0 0 0 0 0 28.83 14.25 28.83

11255 0.94 499.5 3202 2735 1582 1555 34.5 7.1 717 11297 0.00 0.00 38.83 0.307 8198 0.000 0.000 3201 2734 1220 1231 1209 0 0 0 0 0 0 28.83 28.83 14.07

11596 1.03 637.9 3201 2735 1234 1198 12.6 4.3 751 11666 0.00 2.42 61.95 0.231 8708 0.000 0.067 3201 1358 657 633 681 0 0 0 0 0 0 28.83 14.22 14.11

11686 1.12 756.2 3202 1359 635 681 8.0 5.3 765 11711 0.17 2.45 17.83 0.220 11270 0.136 0.090 3257 2736 497 446 549 0 0 0 0 0 0 14.22 14.22 14.08

11774 end climb: SURFACE_DEPTH_REACHED

state 11774 begin surface coast

11785 end surface coast: FINISH_DEPTH_REACHED

state 11785 begin surface

ID	196	ESCAPE_HEADING	180	C_ROLL_CLIMB	2740	ALTIM_FREQUENCY	13
MISSION	7	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	223	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	51	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	676.53741	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.75
D_ABORT	800	N_FILEKB	8	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	2	ROLL_ADJ_GAIN	1.5	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0.050000001	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	3258	DEVICE4	-1
D_SAFE	500	NOCOMM_ACTION	161	VBD_DBAND	2	DEVICE5	-1
D_CALL	3	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	5	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	1
SURFACE_URGENCY_TRY	5	CALL_TRIES	3	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	10	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	20	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-5294.1025	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	1	RAFOS_PEAK_OFFSET	0	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.050000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044209026
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00065043929
T_WATCHDOG	10	PITCH_MIN	208	MINV_10V	11	SEABIRD_T_I	2.5803243e-05
RELAUNCH	1	PITCH_MAX	3896	FG_AHR_10V	0	SEABIRD_T_J	3.1106315e-06
APOGEE_PITCH	-5	C_PITCH	2895	FG_AHR_24V	0	SEABIRD_C_G	-9.7475271
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1204907
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-73.350418	SEABIRD_C_I	-0.00083350006
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001164176	SEABIRD_C_J	0.00013962483
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	38	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54281	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	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	10	TM_LOGSAMPLE	0.0
HD_A	0.0043000001	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3787	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	4.3e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2760	ALTIM_PING_DELTA	20

GPS1	270814,055624,7332.342,-14509.569,38,0.8,58,22.8	SPEED_LIMITS	0.201,0.252
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7400.000,-14510.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.78	MHEAD_RNG_PITCHd_Wd	337.0,51149,-22.3,-11.628,-24.76,1933
_SM_ANGLEo	-78.7	D_GRID	1000
GPS2	270814,060340,7332.382,-14509.570,5,0.9,25,22.8

FREEZE	0.81,-1.205,-0.564,2,1,0	_24V_AH	12.70,67.416
FINISH	0.8,1.008221	_10V_AH	13.04,0.000
SM_CCo	11861,0.00,0.000,0,0,494,678.01	FG_AHR_24Vo	0.000
SM_GC	1.96,9.38,0.00,0.00,0.079,0.000,0.000,199,2736,494,-8.37,-0.68,678.01,0,0,0,0,0,0,14.32,28.83,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	249	MEM	234828
RAFOS_FIX	7324.021484,-14457.928711,260814,121206,2,255,0.38	DATA_FILE_SIZE	26745,777
IRIDIUM_FIX	7250.09,-14501.10,270814,023406	CAP_FILE_SIZE	124723,0
TT8_MAMPS	0.043442,0.043442	CFSIZE	2097872896,2048491520
HUMID	45.03	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.55303	INTR	2,11788.45,0x2378b6,7,5
TCM_TEMP	12.50	SOUNDSPEED	1448.0
XPDR_PINGS	8	GPS	270814,092254,7333.744,-14509.102,27,0.8,47,22.8
SC_FREEKB	3838752

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	400	119.51	nil	0	0	0.00
Roll_motor	33	126	53.82	nil	0	0	0.00
VBD_pump_during_apogee	562	2015	14387.05	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	11816	18	2770.02
Iridium_during_xfer	260	149	495.24	TMICL	0	0	0.00
Transponder_ping	2	420	10.67	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.29
TT8	0	0	0.00
LPSleep	9596	2	289.06
TT8_Active	668	9	82.61
TT8_Sampling	1868	28	705.45
TT8_CF8	160	35	74.49
TT8_Kalman	0	0	0.00
Analog_circuits	1537	10	200.51
GPS_charging	0	0	0.00
Compass	1158	0	11.33
RAFOS	1472	48	921.35
Transponder	0	5	0.04

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.69	-145.9	203	2773	429	549	0.0	0.0	0	90	0.00	0.00	-71.88	0.000	16386	0.000	0.000	202	2773	2264	2276	2252	0	0	0	0	0	0	28.83	28.83	28.83
92	-0.69	-145.9	203	2774	2277	2255	3.5	-3.5	7	141	12.10	1.83	-29.00	0.000	18692	0.401	0.126	2657	3777	3856	3920	3792	0	0	0	0	0	0	14.01	14.23	14.47
365	-0.69	-145.9	2658	3778	3922	3796	89.4	-23.3	62	372	0.00	1.70	0.00	0.000	1030	0.000	0.053	2656	2754	3857	3920	3795	0	0	0	0	0	0	28.83	14.35	28.83
671	-0.69	-145.9	2658	2755	3921	3796	154.3	-20.3	93	676	0.00	1.85	0.00	0.000	260	0.000	0.103	2649	3775	3857	3920	3795	0	0	0	0	0	0	28.83	14.36	28.83
901	-0.69	-145.9	2649	3776	3922	3795	202.1	-19.7	139	906	0.00	1.67	0.00	0.000	1030	0.000	0.054	2649	2763	3857	3920	3795	0	0	0	0	0	0	28.83	14.48	28.83
1231	-0.69	-145.9	2649	2764	3922	3797	259.3	-15.7	169	1236	0.00	1.83	0.00	0.000	260	0.000	0.103	2640	3780	3857	3920	3795	0	0	0	0	0	0	28.83	14.39	28.83
1431	-0.69	-145.9	2641	3781	3922	3795	293.3	-16.9	209	1436	0.08	1.67	0.00	0.000	3078	0.233	0.055	2660	2767	3857	3920	3795	0	0	0	0	0	0	14.33	14.54	28.83
1742	-0.69	-145.9	2661	2767	3921	3796	336.0	-13.3	221	1742	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2766	3857	3919	3795	0	0	0	0	0	0	28.83	28.83	28.83
2041	-0.69	-145.9	2660	2766	3921	3795	375.3	-13.0	231	2046	0.00	2.35	0.00	0.000	516	0.000	0.067	2660	1360	3857	3920	3795	0	0	0	0	0	0	28.83	14.50	28.83
2090	-0.69	-145.9	2661	1360	3922	3795	381.5	-12.7	241	2096	0.00	2.50	0.00	0.000	1030	0.000	0.097	2651	2755	3857	3920	3795	0	0	0	0	0	0	28.83	14.47	28.83
2401	-0.69	-145.9	2652	2756	3921	3796	423.2	-13.5	253	2402	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2755	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
2701	-0.69	-145.9	2652	2755	3922	3795	463.3	-13.3	263	2701	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2755	3857	3920	3795	0	0	0	0	0	0	28.83	28.83	28.83
3001	-0.69	-145.9	2652	2755	3922	3795	503.4	-13.3	273	3001	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2754	3857	3920	3795	0	0	0	0	0	0	28.83	28.83	28.83
3301	-0.69	-145.9	2652	2756	3921	3795	543.1	-13.1	283	3301	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2754	3857	3920	3795	0	0	0	0	0	0	28.83	28.83	28.83
3601	-0.69	-145.9	2652	2755	3921	3795	582.4	-12.9	293	3601	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2755	3857	3920	3795	0	0	0	0	0	0	28.83	28.83	28.83
3901	-0.69	-145.9	2652	2755	3921	3796	620.7	-12.8	303	3901	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2755	3857	3920	3795	0	0	0	0	0	0	28.83	28.83	28.83
4201	-0.69	-145.9	2652	2756	3921	3796	658.7	-12.7	313	4201	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2755	3857	3920	3795	0	0	0	0	0	0	28.83	28.83	28.83
4501	-0.69	-145.9	2652	2755	3922	3795	696.6	-12.6	323	4501	0.00	0.00	0.00	0.000	6	0.000	0.000	2652	2755	3857	3920	3795	0	0	0	0	0	0	28.83	28.83	28.83
4801	-0.69	-145.9	2652	2755	3922	3795	734.0	-12.4	333	4801	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2755	3857	3919	3795	0	0	0	0	0	0	28.83	28.83	28.83
4949	end dive: TARGET_DEPTH_EXCEEDED
state	4949	begin apogee
4953	-0.13	0.0	2652	2756	3921	3796	752.7	-12.4	338	5081	0.73	0.00	125.90	2.015	10246	0.226	0.000	2847	2755	3257	3277	3237	0	0	0	0	0	0	14.47	28.83	13.14
5082	end apogee: CONTROL_FINISHED_OK
state	5082	begin climb
5084	0.69	145.9	2848	2755	3274	3234	756.5	0.0	342	5213	0.90	0.00	125.75	1.834	10246	0.121	0.000	3116	2755	2661	2666	2656	0	0	0	0	0	0	13.80	28.83	12.70
5491	0.69	145.9	3118	2756	2664	2645	714.4	13.5	356	5491	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2755	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
5791	0.69	145.9	3117	2755	2665	2644	674.6	13.2	366	5791	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2755	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
6091	0.69	145.9	3118	2756	2664	2645	634.5	13.3	376	6091	0.00	0.00	0.00	0.000	6	0.000	0.000	3117	2755	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
6391	0.69	145.9	3118	2756	2664	2645	594.8	13.3	386	6396	0.00	1.85	0.00	0.000	260	0.000	0.099	3117	3786	2653	2663	2643	0	0	0	0	0	0	28.83	14.43	28.83
6425	0.69	145.9	3118	3787	2664	2644	589.5	15.5	393	6431	0.00	1.73	0.00	0.000	1030	0.000	0.050	3124	2738	2653	2663	2644	0	0	0	0	0	0	28.83	14.50	28.83
6752	0.69	145.9	3125	2737	2664	2643	545.1	13.6	408	6753	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2737	2652	2663	2642	0	0	0	0	0	0	28.83	28.83	28.83
7052	0.69	145.9	3125	2737	2664	2643	504.6	13.5	418	7053	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2737	2653	2663	2643	0	0	0	0	0	0	28.83	28.83	28.83
7351	0.69	145.9	3125	2736	2664	2643	464.9	13.3	428	7352	0.00	0.00	0.00	0.000	6	0.000	0.000	3126	2736	2656	2670	2643	0	0	0	0	0	0	28.83	28.83	28.83
7651	0.69	145.9	3125	2737	2665	2642	425.9	13.0	438	7652	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2737	2653	2663	2643	0	0	0	0	0	0	28.83	28.83	28.83
7951	0.69	145.9	3125	2737	2664	2643	387.7	12.5	448	7951	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2737	2653	2663	2643	0	0	0	0	0	0	28.83	28.83	28.83
8251	0.69	145.9	3125	2737	2668	2643	350.2	12.5	458	8251	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2735	2653	2663	2643	0	0	0	0	0	0	28.83	28.83	28.83
8551	0.69	145.9	3125	2737	2665	2643	313.6	12.2	468	8552	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2737	2654	2665	2643	0	0	0	0	0	0	28.83	28.83	28.83
8851	0.69	151.1	3125	2737	2664	2644	278.7	11.4	478	8854	0.00	0.00	1.62	0.364	8198	0.000	0.000	3125	2737	2642	2654	2631	0	0	0	0	0	0	28.83	28.83	14.00
9152	0.71	178.9	3126	2738	2673	2635	246.8	10.2	490	9182	0.00	0.00	27.23	1.284	8198	0.000	0.000	3125	2737	2524	2533	2515	0	0	0	0	0	0	28.83	28.83	13.85
9482	0.75	231.8	3125	2737	2533	2510	213.4	8.8	523	9533	0.00	2.38	44.45	1.268	8708	0.000	0.065	3135	1353	2306	2309	2303	0	0	0	0	0	0	28.83	14.23	13.64
9568	0.78	273.6	3136	1354	2306	2303	205.6	9.4	537	9608	0.00	2.47	35.22	1.299	9222	0.000	0.092	3135	2742	2139	2140	2138	0	0	0	0	0	0	28.83	14.23	13.53
9913	0.79	283.4	3136	2744	2139	2125	165.6	11.1	576	9924	0.00	0.00	7.97	1.287	8198	0.000	0.000	3135	2742	2099	2107	2092	0	0	0	0	0	0	28.83	28.83	13.73
10223	0.81	323.5	3136	2742	2107	2088	133.3	9.5	607	10264	0.00	0.00	34.75	1.189	8198	0.000	0.000	3135	2742	1934	1935	1934	0	0	0	0	0	0	28.83	28.83	13.68
10564	0.84	358.8	3136	2741	1934	1926	98.4	9.8	641	10584	0.00	0.00	15.38	0.493	8198	0.000	0.000	3134	2742	1797	1798	1796	0	0	0	0	0	0	28.83	28.83	13.96
10884	0.88	413.7	3136	2742	1806	1792	68.4	8.7	673	10915	0.12	2.40	25.33	0.392	10756	0.125	0.066	3201	1348	1570	1575	1566	0	0	0	0	0	0	14.34	14.23	14.01
10951	0.88	413.7	3202	1348	1577	1565	60.6	11.7	686	10957	0.00	2.47	0.00	0.000	1030	0.000	0.093	3201	2735	1570	1577	1563	0	0	0	0	0	0	28.83	14.25	28.83
11255	0.94	499.5	3202	2735	1582	1555	34.5	7.1	717	11297	0.00	0.00	38.83	0.307	8198	0.000	0.000	3201	2734	1220	1231	1209	0	0	0	0	0	0	28.83	28.83	14.07
11596	1.03	637.9	3201	2735	1234	1198	12.6	4.3	751	11666	0.00	2.42	61.95	0.231	8708	0.000	0.067	3201	1358	657	633	681	0	0	0	0	0	0	28.83	14.22	14.11
11686	1.12	756.2	3202	1359	635	681	8.0	5.3	765	11711	0.17	2.45	17.83	0.220	11270	0.136	0.090	3257	2736	497	446	549	0	0	0	0	0	0	14.22	14.22	14.08
11774	end climb: SURFACE_DEPTH_REACHED
state	11774	begin surface coast
11785	end surface coast: FINISH_DEPTH_REACHED
state	11785	begin surface