Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 23 * 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 23 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 27 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 13 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 -3350.3232 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 -3350.3232

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 27 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 13 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 23 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 290714,131224,7057.168,-14428.897,31,0.9,51,22.3 SPEED_LIMITS 0.170,0.235

_CALLS 2 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 336.8,73032,-21.9,-11.905,-26.85,1887

_SM_ANGLEo -70.0 D_GRID 1000

GPS2 290714,132540,7057.011,-14428.720,5,0.8,25,22.3

Post-dive calculations and measurements:

FREEZE 11.98,4.425,-1.426,0,1,0 _10V_AH 12.74,0.000

SM_CCo 8624,135.93,0.210,0,0,497,659.37 FG_AHR_24Vo 0.000

SM_GC 2.06,7.85,0.43,0.00,0.080,0.106,0.000,207,2797,503,-7.52,0.76,658.14,0,0,0,0,0,0,14.47,14.47,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 557 MEM 302444

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26725,822

IRIDIUM_FIX 7019.90,-14425.45,290714,131612 CAP_FILE_SIZE 135472,0

TT8_MAMPS 0.04494,0.04494 CFSIZE 2097872896,2088337408

HUMID 50.70 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.55425 INTR 0,9782.31,0x2378b6,7,5

TCM_TEMP 12.10 SOUNDSPEED 1449.7

XPDR_PINGS 0 EKF 9012,4258.019531,-8669.210938,11.984879,-0.005898,-0.002038,-0.009365,0.000120,0.001124,0.000099,0.003025,0.003025,0.000050

SC_FREEKB 4010080 CURRENT 0.037,158.84,1

TM_FREEKB 7683680 GPS 290714,155606,7057.851,-14429.014,18,1.1,38,22.3

_24V_AH 13.23,8.070

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 467 135.58 nil 0 0 0.00

Roll_motor 74 149 148.23 nil 0 0 0.00

VBD_pump_during_apogee 508 1385 9325.82 nil 0 0 0.00

VBD_pump_during_surface 135 209 376.94 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 8644 15 1743.88

Iridium_during_xfer 497 195 1282.68 TMICL 8696 13 1539.34

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 0 0.25

TT8 0 0 0.00

LPSleep 6397 2 188.26

TT8_Active 824 8 91.70

TT8_Sampling 2434 28 874.48

TT8_CF8 76 35 34.68

TT8_Kalman 0 0 0.00

Analog_circuits 2049 10 261.16

GPS_charging 0 0 0.00

Compass 1215 0 11.61

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

18 -0.69 -145.9 202 2790 488 606 0.0 0.0 0 85 0.00 0.00 -63.50 0.000 16386 0.000 0.000 199 2790 2115 2153 2077 0 0 0 0 0 0 28.83 28.83 28.83

87 -0.69 -145.9 202 2790 2154 2078 3.1 -2.8 6 143 11.57 2.47 -33.20 0.000 18948 0.467 0.112 2395 1391 3783 3856 3711 0 0 0 0 0 0 14.13 14.30 14.52

167 -0.66 -145.9 2395 1390 3858 3712 20.9 -17.5 19 176 0.00 2.58 0.00 0.000 1030 0.000 0.122 2392 2806 3784 3856 3712 0 0 0 0 0 0 28.83 14.31 28.83

472 -0.64 -145.9 2387 2808 3857 3714 78.1 -16.5 50 482 0.15 1.75 0.00 0.000 2308 0.356 0.134 2410 3787 3782 3855 3710 0 0 0 0 0 0 14.33 14.40 28.83

606 -0.64 -145.9 2410 3787 3854 3714 98.8 -14.2 76 613 0.00 1.73 0.00 0.000 1030 0.000 0.087 2410 2796 3785 3856 3714 0 0 0 0 0 0 28.83 14.49 28.83

918 -0.66 -145.9 2410 2796 3857 3709 140.1 -12.7 108 925 0.00 2.38 0.00 0.000 516 0.000 0.090 2410 1393 3785 3856 3714 0 0 0 0 0 0 28.83 14.51 28.83

1010 -0.70 -145.9 2410 1393 3856 3715 150.7 -11.1 126 1020 0.00 2.55 0.00 0.000 1030 0.000 0.127 2403 2809 3785 3856 3714 0 0 0 0 0 0 28.83 14.48 28.83

1324 -0.73 -145.9 2404 2809 3857 3714 186.2 -10.5 158 1328 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2809 3785 3856 3714 0 0 0 0 0 0 28.83 28.83 28.83

1624 -0.77 -145.9 2404 2809 3855 3714 215.5 -9.9 188 1631 0.00 2.42 0.00 0.000 516 0.000 0.088 2403 1386 3783 3853 3714 0 0 0 0 0 0 28.83 14.57 28.83

1746 -0.82 -145.9 2404 1386 3853 3714 226.6 -9.5 212 1754 0.12 2.55 0.00 0.000 5126 0.157 0.128 2353 2798 3783 3852 3714 0 0 0 0 0 0 14.57 14.52 28.83

2078 -0.82 -145.9 2350 2798 3861 3714 264.5 -11.4 238 2087 0.00 2.40 0.00 0.000 516 0.000 0.088 2350 1387 3782 3850 3714 0 0 0 0 0 0 28.83 14.58 28.83

2116 -0.82 -145.9 2352 1388 3851 3716 268.8 -10.4 245 2124 0.00 2.55 0.00 0.000 1030 0.000 0.128 2346 2805 3782 3850 3714 0 0 0 0 0 0 28.83 14.54 28.83

2444 -0.82 -145.9 2348 2805 3851 3713 305.9 -11.3 260 2452 0.00 2.40 0.00 0.000 516 0.000 0.088 2347 1388 3781 3849 3714 0 0 0 0 0 0 28.83 14.61 28.83

2485 -0.82 -145.9 2348 1388 3850 3714 310.6 -10.8 268 2494 0.00 2.53 0.00 0.000 1030 0.000 0.126 2347 2798 3781 3849 3714 0 0 0 0 0 0 28.83 14.57 28.83

2808 -0.82 -145.9 2348 2799 3849 3717 346.2 -11.2 282 2817 0.00 2.38 0.00 0.000 516 0.000 0.087 2347 1391 3781 3848 3714 0 0 0 0 0 0 28.83 14.62 28.83

2881 -0.82 -145.9 2348 1391 3849 3715 354.1 -9.9 296 2889 0.00 2.53 0.00 0.000 1030 0.000 0.125 2347 2801 3781 3848 3714 0 0 0 0 0 0 28.83 14.59 28.83

3204 -0.82 -145.9 2348 2802 3848 3715 389.6 -10.9 310 3213 0.00 2.40 0.00 0.000 516 0.000 0.088 2347 1383 3780 3847 3714 0 0 0 0 0 0 28.83 14.64 28.83

3247 -0.85 -145.9 2348 1382 3847 3714 394.4 -10.8 318 3257 0.00 2.55 0.00 0.000 1030 0.000 0.125 2347 2810 3780 3847 3714 0 0 0 0 0 0 28.83 14.59 28.83

3572 -0.85 -145.9 2344 2809 3847 3714 429.4 -10.8 332 3579 0.00 2.40 0.00 0.000 516 0.000 0.087 2347 1385 3780 3846 3714 0 0 0 0 0 0 28.83 14.64 28.83

3618 -0.87 -145.9 2348 1385 3847 3715 434.3 -10.1 341 3626 0.00 2.53 0.00 0.000 1030 0.000 0.124 2347 2802 3780 3846 3714 0 0 0 0 0 0 28.83 14.60 28.83

3936 -0.87 -145.9 2348 2803 3847 3715 468.4 -10.8 354 3945 0.00 2.38 0.00 0.000 516 0.000 0.086 2347 1388 3783 3852 3714 0 0 0 0 0 0 28.83 14.65 28.83

3994 -0.89 -145.9 2348 1388 3847 3714 474.5 -9.9 365 4003 0.00 2.53 0.00 0.000 1030 0.000 0.125 2347 2806 3780 3846 3715 0 0 0 0 0 0 28.83 14.61 28.83

4238 end dive: TARGET_DEPTH_EXCEEDED

state 4238 begin apogee

4241 -0.14 0.0 2348 3052 3847 3713 500.7 -10.7 374 4425 0.88 0.00 179.07 1.353 10246 0.288 0.000 2576 3052 3185 3263 3108 0 0 0 0 0 0 14.54 28.83 13.42

4427 end apogee: CONTROL_FINISHED_OK

state 4427 begin climb

4428 0.69 145.9 2577 3052 3258 3102 505.4 0.0 380 4567 0.93 1.45 122.50 1.385 10500 0.174 0.131 2847 3787 2576 2641 2511 0 0 0 0 0 0 13.88 13.74 13.23

4791 0.62 145.9 2848 3788 2630 2501 457.8 17.2 445 4800 0.00 1.30 0.00 0.000 1030 0.000 0.084 2851 3048 2567 2629 2506 0 0 0 0 0 0 28.83 14.22 28.83

5096 0.57 145.9 2852 3049 2630 2500 410.6 15.5 456 5104 0.15 1.35 0.00 0.000 4356 0.317 0.127 2817 3790 2564 2629 2500 0 0 0 0 0 0 14.26 14.34 28.83

5328 0.52 145.9 2818 3790 2629 2500 375.5 15.4 502 5337 0.00 1.30 0.00 0.000 1030 0.000 0.086 2822 3048 2564 2629 2499 0 0 0 0 0 0 28.83 14.46 28.83

5642 0.49 145.9 2823 3048 2630 2499 332.4 13.6 514 5651 0.15 1.35 0.00 0.000 4356 0.312 0.129 2785 3797 2564 2629 2499 0 0 0 0 0 0 14.40 14.47 28.83

5795 0.47 145.9 2786 3798 2629 2507 312.0 13.5 544 5803 0.00 1.30 0.00 0.000 1030 0.000 0.088 2791 3050 2563 2629 2498 0 0 0 0 0 0 28.83 14.52 28.83

6127 0.47 151.5 2791 3049 2630 2498 273.5 11.6 560 6131 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 3050 2563 2629 2498 0 0 0 0 0 0 28.83 28.83 28.83

6427 0.48 161.2 2792 3049 2639 2498 239.8 11.4 576 6442 0.00 0.00 11.38 1.161 8198 0.000 0.000 2791 3049 2526 2595 2458 0 0 0 0 0 0 28.83 28.83 14.02

6737 0.50 190.8 2791 3050 2580 2442 205.8 10.3 607 6772 0.00 2.50 26.48 1.229 8708 0.000 0.087 2801 1631 2396 2465 2328 0 0 0 0 0 0 28.83 14.32 13.90

6841 0.55 213.8 2802 1631 2453 2321 194.7 10.7 624 6870 0.00 2.58 20.33 1.161 9222 0.000 0.122 2801 3059 2307 2372 2242 0 0 0 0 0 0 28.83 14.38 13.88

7164 0.60 257.5 2802 3059 2359 2230 159.7 9.5 658 7213 0.00 2.47 39.92 1.080 8708 0.000 0.086 2809 1639 2122 2188 2056 0 0 0 0 0 0 28.83 14.19 13.82

7233 0.69 316.6 2810 1644 2180 2052 153.4 8.7 668 7296 0.12 2.58 54.00 1.007 11270 0.154 0.119 2860 3053 1887 1947 1827 0 0 0 0 0 0 14.26 14.23 13.67

7590 0.69 316.6 2861 3053 1924 1807 104.1 13.3 707 7598 0.00 2.45 0.00 0.000 516 0.000 0.087 2867 1632 1865 1923 1807 0 0 0 0 0 0 28.83 14.35 28.83

7657 0.71 316.6 2868 1633 1924 1807 95.7 12.6 720 7666 0.00 2.55 0.00 0.000 1030 0.000 0.120 2867 3048 1865 1923 1807 0 0 0 0 0 0 28.83 14.36 28.83

7962 0.71 316.6 2868 3048 1923 1805 57.0 12.4 751 7965 0.00 0.00 0.00 0.000 6 0.000 0.000 2867 3048 1863 1921 1805 0 0 0 0 0 0 28.83 28.83 28.83

8262 0.78 388.3 2867 3048 1922 1805 29.0 8.0 781 8304 0.00 1.40 36.12 0.262 8452 0.000 0.135 2867 3787 1602 1660 1545 0 0 0 0 0 0 28.83 14.42 14.35

8328 0.83 418.8 2868 3787 1677 1545 23.1 10.2 791 8357 0.00 1.30 19.00 0.239 9222 0.000 0.090 2871 3045 1479 1537 1421 0 0 0 0 0 0 28.83 14.47 14.33

8620 end climb: NO_VERTICAL_VELOCITY

state 8620 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	23	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	27	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	13	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	-3350.3232	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	290714,131224,7057.168,-14428.897,31,0.9,51,22.3	SPEED_LIMITS	0.170,0.235
_CALLS	2	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	336.8,73032,-21.9,-11.905,-26.85,1887
_SM_ANGLEo	-70.0	D_GRID	1000
GPS2	290714,132540,7057.011,-14428.720,5,0.8,25,22.3

FREEZE	11.98,4.425,-1.426,0,1,0	_10V_AH	12.74,0.000
SM_CCo	8624,135.93,0.210,0,0,497,659.37	FG_AHR_24Vo	0.000
SM_GC	2.06,7.85,0.43,0.00,0.080,0.106,0.000,207,2797,503,-7.52,0.76,658.14,0,0,0,0,0,0,14.47,14.47,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	557	MEM	302444
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26725,822
IRIDIUM_FIX	7019.90,-14425.45,290714,131612	CAP_FILE_SIZE	135472,0
TT8_MAMPS	0.04494,0.04494	CFSIZE	2097872896,2088337408
HUMID	50.70	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.55425	INTR	0,9782.31,0x2378b6,7,5
TCM_TEMP	12.10	SOUNDSPEED	1449.7
XPDR_PINGS	0	EKF	9012,4258.019531,-8669.210938,11.984879,-0.005898,-0.002038,-0.009365,0.000120,0.001124,0.000099,0.003025,0.003025,0.000050
SC_FREEKB	4010080	CURRENT	0.037,158.84,1
TM_FREEKB	7683680	GPS	290714,155606,7057.851,-14429.014,18,1.1,38,22.3
_24V_AH	13.23,8.070

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	467	135.58	nil	0	0	0.00
Roll_motor	74	149	148.23	nil	0	0	0.00
VBD_pump_during_apogee	508	1385	9325.82	nil	0	0	0.00
VBD_pump_during_surface	135	209	376.94	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	8644	15	1743.88
Iridium_during_xfer	497	195	1282.68	TMICL	8696	13	1539.34
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	0	0.25
TT8	0	0	0.00
LPSleep	6397	2	188.26
TT8_Active	824	8	91.70
TT8_Sampling	2434	28	874.48
TT8_CF8	76	35	34.68
TT8_Kalman	0	0	0.00
Analog_circuits	2049	10	261.16
GPS_charging	0	0	0.00
Compass	1215	0	11.61
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
18	-0.69	-145.9	202	2790	488	606	0.0	0.0	0	85	0.00	0.00	-63.50	0.000	16386	0.000	0.000	199	2790	2115	2153	2077	0	0	0	0	0	0	28.83	28.83	28.83
87	-0.69	-145.9	202	2790	2154	2078	3.1	-2.8	6	143	11.57	2.47	-33.20	0.000	18948	0.467	0.112	2395	1391	3783	3856	3711	0	0	0	0	0	0	14.13	14.30	14.52
167	-0.66	-145.9	2395	1390	3858	3712	20.9	-17.5	19	176	0.00	2.58	0.00	0.000	1030	0.000	0.122	2392	2806	3784	3856	3712	0	0	0	0	0	0	28.83	14.31	28.83
472	-0.64	-145.9	2387	2808	3857	3714	78.1	-16.5	50	482	0.15	1.75	0.00	0.000	2308	0.356	0.134	2410	3787	3782	3855	3710	0	0	0	0	0	0	14.33	14.40	28.83
606	-0.64	-145.9	2410	3787	3854	3714	98.8	-14.2	76	613	0.00	1.73	0.00	0.000	1030	0.000	0.087	2410	2796	3785	3856	3714	0	0	0	0	0	0	28.83	14.49	28.83
918	-0.66	-145.9	2410	2796	3857	3709	140.1	-12.7	108	925	0.00	2.38	0.00	0.000	516	0.000	0.090	2410	1393	3785	3856	3714	0	0	0	0	0	0	28.83	14.51	28.83
1010	-0.70	-145.9	2410	1393	3856	3715	150.7	-11.1	126	1020	0.00	2.55	0.00	0.000	1030	0.000	0.127	2403	2809	3785	3856	3714	0	0	0	0	0	0	28.83	14.48	28.83
1324	-0.73	-145.9	2404	2809	3857	3714	186.2	-10.5	158	1328	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2809	3785	3856	3714	0	0	0	0	0	0	28.83	28.83	28.83
1624	-0.77	-145.9	2404	2809	3855	3714	215.5	-9.9	188	1631	0.00	2.42	0.00	0.000	516	0.000	0.088	2403	1386	3783	3853	3714	0	0	0	0	0	0	28.83	14.57	28.83
1746	-0.82	-145.9	2404	1386	3853	3714	226.6	-9.5	212	1754	0.12	2.55	0.00	0.000	5126	0.157	0.128	2353	2798	3783	3852	3714	0	0	0	0	0	0	14.57	14.52	28.83
2078	-0.82	-145.9	2350	2798	3861	3714	264.5	-11.4	238	2087	0.00	2.40	0.00	0.000	516	0.000	0.088	2350	1387	3782	3850	3714	0	0	0	0	0	0	28.83	14.58	28.83
2116	-0.82	-145.9	2352	1388	3851	3716	268.8	-10.4	245	2124	0.00	2.55	0.00	0.000	1030	0.000	0.128	2346	2805	3782	3850	3714	0	0	0	0	0	0	28.83	14.54	28.83
2444	-0.82	-145.9	2348	2805	3851	3713	305.9	-11.3	260	2452	0.00	2.40	0.00	0.000	516	0.000	0.088	2347	1388	3781	3849	3714	0	0	0	0	0	0	28.83	14.61	28.83
2485	-0.82	-145.9	2348	1388	3850	3714	310.6	-10.8	268	2494	0.00	2.53	0.00	0.000	1030	0.000	0.126	2347	2798	3781	3849	3714	0	0	0	0	0	0	28.83	14.57	28.83
2808	-0.82	-145.9	2348	2799	3849	3717	346.2	-11.2	282	2817	0.00	2.38	0.00	0.000	516	0.000	0.087	2347	1391	3781	3848	3714	0	0	0	0	0	0	28.83	14.62	28.83
2881	-0.82	-145.9	2348	1391	3849	3715	354.1	-9.9	296	2889	0.00	2.53	0.00	0.000	1030	0.000	0.125	2347	2801	3781	3848	3714	0	0	0	0	0	0	28.83	14.59	28.83
3204	-0.82	-145.9	2348	2802	3848	3715	389.6	-10.9	310	3213	0.00	2.40	0.00	0.000	516	0.000	0.088	2347	1383	3780	3847	3714	0	0	0	0	0	0	28.83	14.64	28.83
3247	-0.85	-145.9	2348	1382	3847	3714	394.4	-10.8	318	3257	0.00	2.55	0.00	0.000	1030	0.000	0.125	2347	2810	3780	3847	3714	0	0	0	0	0	0	28.83	14.59	28.83
3572	-0.85	-145.9	2344	2809	3847	3714	429.4	-10.8	332	3579	0.00	2.40	0.00	0.000	516	0.000	0.087	2347	1385	3780	3846	3714	0	0	0	0	0	0	28.83	14.64	28.83
3618	-0.87	-145.9	2348	1385	3847	3715	434.3	-10.1	341	3626	0.00	2.53	0.00	0.000	1030	0.000	0.124	2347	2802	3780	3846	3714	0	0	0	0	0	0	28.83	14.60	28.83
3936	-0.87	-145.9	2348	2803	3847	3715	468.4	-10.8	354	3945	0.00	2.38	0.00	0.000	516	0.000	0.086	2347	1388	3783	3852	3714	0	0	0	0	0	0	28.83	14.65	28.83
3994	-0.89	-145.9	2348	1388	3847	3714	474.5	-9.9	365	4003	0.00	2.53	0.00	0.000	1030	0.000	0.125	2347	2806	3780	3846	3715	0	0	0	0	0	0	28.83	14.61	28.83
4238	end dive: TARGET_DEPTH_EXCEEDED
state	4238	begin apogee
4241	-0.14	0.0	2348	3052	3847	3713	500.7	-10.7	374	4425	0.88	0.00	179.07	1.353	10246	0.288	0.000	2576	3052	3185	3263	3108	0	0	0	0	0	0	14.54	28.83	13.42
4427	end apogee: CONTROL_FINISHED_OK
state	4427	begin climb
4428	0.69	145.9	2577	3052	3258	3102	505.4	0.0	380	4567	0.93	1.45	122.50	1.385	10500	0.174	0.131	2847	3787	2576	2641	2511	0	0	0	0	0	0	13.88	13.74	13.23
4791	0.62	145.9	2848	3788	2630	2501	457.8	17.2	445	4800	0.00	1.30	0.00	0.000	1030	0.000	0.084	2851	3048	2567	2629	2506	0	0	0	0	0	0	28.83	14.22	28.83
5096	0.57	145.9	2852	3049	2630	2500	410.6	15.5	456	5104	0.15	1.35	0.00	0.000	4356	0.317	0.127	2817	3790	2564	2629	2500	0	0	0	0	0	0	14.26	14.34	28.83
5328	0.52	145.9	2818	3790	2629	2500	375.5	15.4	502	5337	0.00	1.30	0.00	0.000	1030	0.000	0.086	2822	3048	2564	2629	2499	0	0	0	0	0	0	28.83	14.46	28.83
5642	0.49	145.9	2823	3048	2630	2499	332.4	13.6	514	5651	0.15	1.35	0.00	0.000	4356	0.312	0.129	2785	3797	2564	2629	2499	0	0	0	0	0	0	14.40	14.47	28.83
5795	0.47	145.9	2786	3798	2629	2507	312.0	13.5	544	5803	0.00	1.30	0.00	0.000	1030	0.000	0.088	2791	3050	2563	2629	2498	0	0	0	0	0	0	28.83	14.52	28.83
6127	0.47	151.5	2791	3049	2630	2498	273.5	11.6	560	6131	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	3050	2563	2629	2498	0	0	0	0	0	0	28.83	28.83	28.83
6427	0.48	161.2	2792	3049	2639	2498	239.8	11.4	576	6442	0.00	0.00	11.38	1.161	8198	0.000	0.000	2791	3049	2526	2595	2458	0	0	0	0	0	0	28.83	28.83	14.02
6737	0.50	190.8	2791	3050	2580	2442	205.8	10.3	607	6772	0.00	2.50	26.48	1.229	8708	0.000	0.087	2801	1631	2396	2465	2328	0	0	0	0	0	0	28.83	14.32	13.90
6841	0.55	213.8	2802	1631	2453	2321	194.7	10.7	624	6870	0.00	2.58	20.33	1.161	9222	0.000	0.122	2801	3059	2307	2372	2242	0	0	0	0	0	0	28.83	14.38	13.88
7164	0.60	257.5	2802	3059	2359	2230	159.7	9.5	658	7213	0.00	2.47	39.92	1.080	8708	0.000	0.086	2809	1639	2122	2188	2056	0	0	0	0	0	0	28.83	14.19	13.82
7233	0.69	316.6	2810	1644	2180	2052	153.4	8.7	668	7296	0.12	2.58	54.00	1.007	11270	0.154	0.119	2860	3053	1887	1947	1827	0	0	0	0	0	0	14.26	14.23	13.67
7590	0.69	316.6	2861	3053	1924	1807	104.1	13.3	707	7598	0.00	2.45	0.00	0.000	516	0.000	0.087	2867	1632	1865	1923	1807	0	0	0	0	0	0	28.83	14.35	28.83
7657	0.71	316.6	2868	1633	1924	1807	95.7	12.6	720	7666	0.00	2.55	0.00	0.000	1030	0.000	0.120	2867	3048	1865	1923	1807	0	0	0	0	0	0	28.83	14.36	28.83
7962	0.71	316.6	2868	3048	1923	1805	57.0	12.4	751	7965	0.00	0.00	0.00	0.000	6	0.000	0.000	2867	3048	1863	1921	1805	0	0	0	0	0	0	28.83	28.83	28.83
8262	0.78	388.3	2867	3048	1922	1805	29.0	8.0	781	8304	0.00	1.40	36.12	0.262	8452	0.000	0.135	2867	3787	1602	1660	1545	0	0	0	0	0	0	28.83	14.42	14.35
8328	0.83	418.8	2868	3787	1677	1545	23.1	10.2	791	8357	0.00	1.30	19.00	0.239	9222	0.000	0.090	2871	3045	1479	1537	1421	0	0	0	0	0	0	28.83	14.47	14.33
8620	end climb: NO_VERTICAL_VELOCITY
state	8620	begin surface