Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 24 * 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 24 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 26 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 14 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 -3351.937 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 -3351.937

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 26 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 14 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 24 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 290714,155606,7057.851,-14429.014,18,1.1,38,22.3 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 1.82 MHEAD_RNG_PITCHd_Wd 342.0,71670,-21.9,-11.905,-26.85,1887

_SM_ANGLEo -67.6 D_GRID 1000

GPS2 290714,160642,7057.770,-14429.011,4,0.9,25,22.3

Post-dive calculations and measurements:

FINISH 0.9,1.019012 _10V_AH 12.60,0.000

SM_CCo 8916,0.00,0.000,0,0,502,658.39 FG_AHR_24Vo 0.000

SM_GC 2.17,8.57,2.17,0.00,0.110,0.129,0.000,209,2802,502,-7.51,-0.42,658.39,0,0,0,0,0,0,14.40,14.35,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 560 MEM 302020

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26738,817

IRIDIUM_FIX 7026.32,-14421.61,290714,131823 CAP_FILE_SIZE 132143,0

TT8_MAMPS 0.045689,0.045689 CFSIZE 2097872896,2088075264

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

INTERNAL_PRESSURE 8.57378 INTR 0,9668.29,0x2378b6,7,5

TCM_TEMP 12.60 SOUNDSPEED 1449.2

XPDR_PINGS 0 EKF 9007,4258.765137,-8669.026367,0.892764,-0.301867,-0.004003,-0.029348,0.000125,0.001175,0.000095,0.000525,0.000525,0.000034

SC_FREEKB 4009632 CURRENT 0.016,94.07,1

TM_FREEKB 7669568 GPS 290714,183710,7058.731,-14428.796,33,0.8,53,22.3

_24V_AH 12.67,8.423

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 468 137.70 nil 0 0 0.00

Roll_motor 66 133 112.37 nil 0 0 0.00

VBD_pump_during_apogee 603 2757 21078.81 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 8856 15 1757.03

Iridium_during_xfer 398 201 1015.83 TMICL 8910 13 1504.71

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 6430 2 187.17

TT8_Active 683 8 75.20

TT8_Sampling 2368 28 841.70

TT8_CF8 75 35 33.89

TT8_Kalman 0 0 0.00

Analog_circuits 1851 10 233.35

GPS_charging 0 0 0.00

Compass 1214 0 11.48

RAFOS 983 48 594.52

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

19 -0.69 -145.9 204 2797 460 540 0.0 0.0 0 80 0.00 0.00 -58.70 0.000 16386 0.000 0.000 203 2796 1933 1969 1897 0 0 0 0 0 0 28.83 28.83 28.83

82 -0.69 -145.9 204 2796 1972 1900 3.3 -2.5 6 143 11.65 2.50 -39.28 0.000 18948 0.469 0.112 2398 1387 3782 3851 3714 0 0 0 0 0 0 14.10 14.30 14.52

168 -0.66 -145.9 2399 1387 3853 3715 21.0 -18.0 20 175 0.00 2.58 0.00 0.000 1030 0.000 0.122 2388 2801 3783 3851 3715 0 0 0 0 0 0 28.83 14.28 28.83

479 -0.64 -145.9 2389 2802 3851 3719 79.9 -16.8 52 487 0.15 1.77 0.00 0.000 2308 0.355 0.132 2411 3789 3787 3856 3718 0 0 0 0 0 0 14.27 14.35 28.83

591 -0.64 -145.9 2412 3790 3851 3720 98.0 -16.3 74 599 0.00 1.73 0.00 0.000 1030 0.000 0.083 2411 2795 3784 3850 3719 0 0 0 0 0 0 28.83 14.42 28.83

903 -0.66 -145.9 2411 2794 3851 3719 140.4 -12.8 106 910 0.00 2.40 0.00 0.000 516 0.000 0.089 2410 1390 3784 3850 3719 0 0 0 0 0 0 28.83 14.42 28.83

1000 -0.70 -145.9 2411 1387 3851 3719 151.8 -11.2 125 1009 0.00 2.55 0.00 0.000 1030 0.000 0.122 2404 2801 3784 3850 3719 0 0 0 0 0 0 28.83 14.40 28.83

1305 -0.73 -145.9 2404 2801 3851 3719 187.1 -10.8 156 1313 0.00 2.40 0.00 0.000 516 0.000 0.086 2404 1389 3784 3850 3718 0 0 0 0 0 0 28.83 14.49 28.83

1352 -0.77 -145.9 2404 1389 3851 3720 192.0 -10.2 165 1361 0.00 2.55 0.00 0.000 1030 0.000 0.124 2400 2803 3784 3850 3718 0 0 0 0 0 0 28.83 14.45 28.83

1658 -0.81 -145.9 2401 2804 3851 3717 221.8 -9.7 196 1665 0.00 2.40 0.00 0.000 516 0.000 0.087 2405 1392 3783 3850 3716 0 0 0 0 0 0 28.83 14.52 28.83

1700 -0.86 -145.9 2401 1393 3856 3718 225.8 -9.1 204 1707 0.15 2.53 0.00 0.000 5126 0.145 0.125 2341 2800 3783 3850 3717 0 0 0 0 0 0 14.54 14.50 28.83

2031 -0.86 -145.9 2343 2802 3850 3717 265.1 -11.9 230 2039 0.00 2.40 0.00 0.000 516 0.000 0.086 2342 1392 3782 3849 3716 0 0 0 0 0 0 28.83 14.54 28.83

2073 -0.86 -145.9 2342 1392 3851 3712 270.1 -11.1 238 2081 0.00 2.53 0.00 0.000 1030 0.000 0.122 2334 2801 3786 3849 3724 0 0 0 0 0 0 28.83 14.53 28.83

2396 -0.86 -145.9 2335 2801 3848 3716 308.6 -11.8 252 2398 0.00 0.00 0.00 0.000 6 0.000 0.000 2334 2801 3781 3847 3716 0 0 0 0 0 0 28.83 28.83 28.83

2695 -0.86 -145.9 2334 2801 3848 3716 343.7 -11.7 262 2703 0.00 2.38 0.00 0.000 516 0.000 0.086 2334 1392 3781 3847 3715 0 0 0 0 0 0 28.83 14.62 28.83

2747 -0.86 -145.9 2334 1392 3845 3715 349.6 -10.5 272 2755 0.00 2.53 0.00 0.000 1030 0.000 0.124 2334 2804 3780 3846 3715 0 0 0 0 0 0 28.83 14.58 28.83

3060 -0.86 -145.9 2335 2806 3847 3716 385.7 -11.6 284 3062 0.00 0.00 0.00 0.000 6 0.000 0.000 2334 2804 3778 3840 3716 0 0 0 0 0 0 28.83 28.83 28.83

3359 -0.86 -145.9 2334 2804 3848 3715 420.2 -11.5 294 3368 0.00 2.38 0.00 0.000 516 0.000 0.087 2330 1394 3780 3846 3715 0 0 0 0 0 0 28.83 14.62 28.83

3422 -0.86 -145.9 2334 1394 3847 3716 427.1 -10.9 306 3430 0.00 2.50 0.00 0.000 1030 0.000 0.122 2333 2799 3780 3846 3715 0 0 0 0 0 0 28.83 14.60 28.83

3754 -0.86 -145.9 2337 2800 3847 3720 464.5 -11.2 322 3756 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2799 3780 3846 3715 0 0 0 0 0 0 28.83 28.83 28.83

4054 -0.86 -145.9 2334 2805 3847 3716 497.9 -11.0 332 4062 0.00 2.38 0.00 0.000 516 0.000 0.086 2334 1389 3780 3846 3715 0 0 0 0 0 0 28.83 14.65 28.83

4075 end dive: TARGET_DEPTH_EXCEEDED

state 4075 begin apogee

4081 -0.14 0.0 2335 3050 3847 3716 500.5 -11.1 336 4221 0.95 0.00 130.65 2.757 10246 0.295 0.000 2578 3049 3187 3266 3109 0 0 0 0 1 0 14.52 28.83 12.67

4223 end apogee: CONTROL_FINISHED_OK

state 4223 begin climb

4224 0.69 145.9 2579 3049 3279 3109 503.5 0.0 340 4367 0.93 1.48 128.77 1.476 10500 0.170 0.129 2847 3786 2583 2649 2517 0 0 0 0 0 0 13.71 13.62 13.16

4591 0.62 145.9 2848 3788 2639 2513 456.3 16.7 406 4599 0.00 1.30 0.00 0.000 1030 0.000 0.084 2850 3056 2573 2638 2508 0 0 0 0 0 0 28.83 14.12 28.83

4924 0.57 145.9 2851 3061 2639 2507 405.7 15.1 422 4931 0.15 1.35 0.00 0.000 4356 0.323 0.127 2816 3796 2572 2638 2507 0 0 0 0 0 0 14.17 14.27 28.83

5085 0.51 145.9 2817 3797 2639 2508 381.3 15.2 454 5093 0.00 1.30 0.00 0.000 1030 0.000 0.085 2822 3048 2572 2638 2507 0 0 0 0 0 0 28.83 14.40 28.83

5408 0.48 145.9 2823 3049 2639 2508 337.1 13.6 468 5411 0.15 0.00 0.00 0.000 4102 0.314 0.000 2790 3048 2572 2638 2507 0 0 0 0 0 0 14.36 28.83 28.83

5708 0.48 146.7 2790 3049 2639 2507 301.1 11.9 478 5715 0.00 1.38 0.00 0.000 260 0.000 0.134 2789 3787 2572 2638 2506 0 0 0 0 0 0 28.83 14.48 28.83

5804 0.46 146.7 2790 3788 2639 2506 288.5 13.1 497 5812 0.00 1.27 0.00 0.000 1030 0.000 0.087 2795 3048 2570 2635 2506 0 0 0 0 0 0 28.83 14.54 28.83

6131 0.46 154.1 2796 3049 2634 2507 250.1 11.5 512 6137 0.00 0.00 2.90 0.694 8198 0.000 0.000 2795 3048 2556 2625 2487 0 0 0 0 0 0 28.83 28.83 13.95

6431 0.47 171.3 2796 3049 2642 2489 217.0 11.0 540 6455 0.00 0.00 20.25 1.248 8198 0.000 0.000 2795 3049 2483 2555 2411 0 0 0 0 0 0 28.83 28.83 13.95

6751 0.50 209.0 2795 3048 2539 2400 181.3 9.9 572 6787 0.00 0.00 33.05 1.147 8198 0.000 0.000 2795 3049 2331 2398 2265 0 0 0 0 0 0 28.83 28.83 13.89

7082 0.57 266.6 2796 3049 2375 2248 148.9 8.8 605 7136 0.00 0.00 51.17 1.047 8710 0.000 0.000 2795 3048 2098 2162 2034 0 0 0 0 0 0 28.83 28.83 13.80

7431 0.65 320.0 2795 3048 2135 2009 116.0 9.0 641 7488 0.15 2.53 48.03 0.986 10756 0.137 0.087 2863 1642 1868 1926 1811 0 0 0 0 0 0 14.42 14.16 13.82

7627 0.68 320.0 2864 1641 1908 1800 92.9 12.1 677 7634 0.00 2.55 0.00 0.000 1030 0.000 0.120 2863 3050 1854 1906 1802 0 0 0 0 0 0 28.83 14.30 28.83

7938 0.68 323.4 2864 3051 1907 1796 52.8 11.7 709 7941 0.00 0.00 0.00 0.000 6 0.000 0.000 2863 3050 1850 1906 1795 0 0 0 0 0 0 28.83 28.83 28.83

8239 0.76 394.1 2864 3051 1907 1794 26.4 8.1 739 8283 0.00 2.42 37.70 0.256 8708 0.000 0.083 2871 1642 1582 1640 1524 0 0 0 0 0 0 28.83 14.42 14.33

8342 0.90 497.4 2873 1642 1665 1524 18.9 6.3 757 8412 0.15 2.55 59.50 0.230 11270 0.139 0.122 2933 3057 1157 1192 1123 0 0 0 0 0 0 14.45 14.40 14.28

8706 1.14 704.2 2933 3056 1221 1123 6.5 0.6 797 8810 0.17 2.45 91.40 0.197 10756 0.140 0.090 3013 1642 498 463 534 0 0 0 0 0 0 14.47 14.35 14.31

8813 end climb: SURFACE_DEPTH_REACHED

state 8813 begin surface coast

8833 end surface coast: CONTROL_FINISHED_OK

state 8833 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	24	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	26	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	14	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	-3351.937	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	290714,155606,7057.851,-14429.014,18,1.1,38,22.3	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	1.82	MHEAD_RNG_PITCHd_Wd	342.0,71670,-21.9,-11.905,-26.85,1887
_SM_ANGLEo	-67.6	D_GRID	1000
GPS2	290714,160642,7057.770,-14429.011,4,0.9,25,22.3

FINISH	0.9,1.019012	_10V_AH	12.60,0.000
SM_CCo	8916,0.00,0.000,0,0,502,658.39	FG_AHR_24Vo	0.000
SM_GC	2.17,8.57,2.17,0.00,0.110,0.129,0.000,209,2802,502,-7.51,-0.42,658.39,0,0,0,0,0,0,14.40,14.35,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	560	MEM	302020
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26738,817
IRIDIUM_FIX	7026.32,-14421.61,290714,131823	CAP_FILE_SIZE	132143,0
TT8_MAMPS	0.045689,0.045689	CFSIZE	2097872896,2088075264
HUMID	52.28	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.57378	INTR	0,9668.29,0x2378b6,7,5
TCM_TEMP	12.60	SOUNDSPEED	1449.2
XPDR_PINGS	0	EKF	9007,4258.765137,-8669.026367,0.892764,-0.301867,-0.004003,-0.029348,0.000125,0.001175,0.000095,0.000525,0.000525,0.000034
SC_FREEKB	4009632	CURRENT	0.016,94.07,1
TM_FREEKB	7669568	GPS	290714,183710,7058.731,-14428.796,33,0.8,53,22.3
_24V_AH	12.67,8.423

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	468	137.70	nil	0	0	0.00
Roll_motor	66	133	112.37	nil	0	0	0.00
VBD_pump_during_apogee	603	2757	21078.81	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	8856	15	1757.03
Iridium_during_xfer	398	201	1015.83	TMICL	8910	13	1504.71
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	6430	2	187.17
TT8_Active	683	8	75.20
TT8_Sampling	2368	28	841.70
TT8_CF8	75	35	33.89
TT8_Kalman	0	0	0.00
Analog_circuits	1851	10	233.35
GPS_charging	0	0	0.00
Compass	1214	0	11.48
RAFOS	983	48	594.52
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
19	-0.69	-145.9	204	2797	460	540	0.0	0.0	0	80	0.00	0.00	-58.70	0.000	16386	0.000	0.000	203	2796	1933	1969	1897	0	0	0	0	0	0	28.83	28.83	28.83
82	-0.69	-145.9	204	2796	1972	1900	3.3	-2.5	6	143	11.65	2.50	-39.28	0.000	18948	0.469	0.112	2398	1387	3782	3851	3714	0	0	0	0	0	0	14.10	14.30	14.52
168	-0.66	-145.9	2399	1387	3853	3715	21.0	-18.0	20	175	0.00	2.58	0.00	0.000	1030	0.000	0.122	2388	2801	3783	3851	3715	0	0	0	0	0	0	28.83	14.28	28.83
479	-0.64	-145.9	2389	2802	3851	3719	79.9	-16.8	52	487	0.15	1.77	0.00	0.000	2308	0.355	0.132	2411	3789	3787	3856	3718	0	0	0	0	0	0	14.27	14.35	28.83
591	-0.64	-145.9	2412	3790	3851	3720	98.0	-16.3	74	599	0.00	1.73	0.00	0.000	1030	0.000	0.083	2411	2795	3784	3850	3719	0	0	0	0	0	0	28.83	14.42	28.83
903	-0.66	-145.9	2411	2794	3851	3719	140.4	-12.8	106	910	0.00	2.40	0.00	0.000	516	0.000	0.089	2410	1390	3784	3850	3719	0	0	0	0	0	0	28.83	14.42	28.83
1000	-0.70	-145.9	2411	1387	3851	3719	151.8	-11.2	125	1009	0.00	2.55	0.00	0.000	1030	0.000	0.122	2404	2801	3784	3850	3719	0	0	0	0	0	0	28.83	14.40	28.83
1305	-0.73	-145.9	2404	2801	3851	3719	187.1	-10.8	156	1313	0.00	2.40	0.00	0.000	516	0.000	0.086	2404	1389	3784	3850	3718	0	0	0	0	0	0	28.83	14.49	28.83
1352	-0.77	-145.9	2404	1389	3851	3720	192.0	-10.2	165	1361	0.00	2.55	0.00	0.000	1030	0.000	0.124	2400	2803	3784	3850	3718	0	0	0	0	0	0	28.83	14.45	28.83
1658	-0.81	-145.9	2401	2804	3851	3717	221.8	-9.7	196	1665	0.00	2.40	0.00	0.000	516	0.000	0.087	2405	1392	3783	3850	3716	0	0	0	0	0	0	28.83	14.52	28.83
1700	-0.86	-145.9	2401	1393	3856	3718	225.8	-9.1	204	1707	0.15	2.53	0.00	0.000	5126	0.145	0.125	2341	2800	3783	3850	3717	0	0	0	0	0	0	14.54	14.50	28.83
2031	-0.86	-145.9	2343	2802	3850	3717	265.1	-11.9	230	2039	0.00	2.40	0.00	0.000	516	0.000	0.086	2342	1392	3782	3849	3716	0	0	0	0	0	0	28.83	14.54	28.83
2073	-0.86	-145.9	2342	1392	3851	3712	270.1	-11.1	238	2081	0.00	2.53	0.00	0.000	1030	0.000	0.122	2334	2801	3786	3849	3724	0	0	0	0	0	0	28.83	14.53	28.83
2396	-0.86	-145.9	2335	2801	3848	3716	308.6	-11.8	252	2398	0.00	0.00	0.00	0.000	6	0.000	0.000	2334	2801	3781	3847	3716	0	0	0	0	0	0	28.83	28.83	28.83
2695	-0.86	-145.9	2334	2801	3848	3716	343.7	-11.7	262	2703	0.00	2.38	0.00	0.000	516	0.000	0.086	2334	1392	3781	3847	3715	0	0	0	0	0	0	28.83	14.62	28.83
2747	-0.86	-145.9	2334	1392	3845	3715	349.6	-10.5	272	2755	0.00	2.53	0.00	0.000	1030	0.000	0.124	2334	2804	3780	3846	3715	0	0	0	0	0	0	28.83	14.58	28.83
3060	-0.86	-145.9	2335	2806	3847	3716	385.7	-11.6	284	3062	0.00	0.00	0.00	0.000	6	0.000	0.000	2334	2804	3778	3840	3716	0	0	0	0	0	0	28.83	28.83	28.83
3359	-0.86	-145.9	2334	2804	3848	3715	420.2	-11.5	294	3368	0.00	2.38	0.00	0.000	516	0.000	0.087	2330	1394	3780	3846	3715	0	0	0	0	0	0	28.83	14.62	28.83
3422	-0.86	-145.9	2334	1394	3847	3716	427.1	-10.9	306	3430	0.00	2.50	0.00	0.000	1030	0.000	0.122	2333	2799	3780	3846	3715	0	0	0	0	0	0	28.83	14.60	28.83
3754	-0.86	-145.9	2337	2800	3847	3720	464.5	-11.2	322	3756	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	2799	3780	3846	3715	0	0	0	0	0	0	28.83	28.83	28.83
4054	-0.86	-145.9	2334	2805	3847	3716	497.9	-11.0	332	4062	0.00	2.38	0.00	0.000	516	0.000	0.086	2334	1389	3780	3846	3715	0	0	0	0	0	0	28.83	14.65	28.83
4075	end dive: TARGET_DEPTH_EXCEEDED
state	4075	begin apogee
4081	-0.14	0.0	2335	3050	3847	3716	500.5	-11.1	336	4221	0.95	0.00	130.65	2.757	10246	0.295	0.000	2578	3049	3187	3266	3109	0	0	0	0	1	0	14.52	28.83	12.67
4223	end apogee: CONTROL_FINISHED_OK
state	4223	begin climb
4224	0.69	145.9	2579	3049	3279	3109	503.5	0.0	340	4367	0.93	1.48	128.77	1.476	10500	0.170	0.129	2847	3786	2583	2649	2517	0	0	0	0	0	0	13.71	13.62	13.16
4591	0.62	145.9	2848	3788	2639	2513	456.3	16.7	406	4599	0.00	1.30	0.00	0.000	1030	0.000	0.084	2850	3056	2573	2638	2508	0	0	0	0	0	0	28.83	14.12	28.83
4924	0.57	145.9	2851	3061	2639	2507	405.7	15.1	422	4931	0.15	1.35	0.00	0.000	4356	0.323	0.127	2816	3796	2572	2638	2507	0	0	0	0	0	0	14.17	14.27	28.83
5085	0.51	145.9	2817	3797	2639	2508	381.3	15.2	454	5093	0.00	1.30	0.00	0.000	1030	0.000	0.085	2822	3048	2572	2638	2507	0	0	0	0	0	0	28.83	14.40	28.83
5408	0.48	145.9	2823	3049	2639	2508	337.1	13.6	468	5411	0.15	0.00	0.00	0.000	4102	0.314	0.000	2790	3048	2572	2638	2507	0	0	0	0	0	0	14.36	28.83	28.83
5708	0.48	146.7	2790	3049	2639	2507	301.1	11.9	478	5715	0.00	1.38	0.00	0.000	260	0.000	0.134	2789	3787	2572	2638	2506	0	0	0	0	0	0	28.83	14.48	28.83
5804	0.46	146.7	2790	3788	2639	2506	288.5	13.1	497	5812	0.00	1.27	0.00	0.000	1030	0.000	0.087	2795	3048	2570	2635	2506	0	0	0	0	0	0	28.83	14.54	28.83
6131	0.46	154.1	2796	3049	2634	2507	250.1	11.5	512	6137	0.00	0.00	2.90	0.694	8198	0.000	0.000	2795	3048	2556	2625	2487	0	0	0	0	0	0	28.83	28.83	13.95
6431	0.47	171.3	2796	3049	2642	2489	217.0	11.0	540	6455	0.00	0.00	20.25	1.248	8198	0.000	0.000	2795	3049	2483	2555	2411	0	0	0	0	0	0	28.83	28.83	13.95
6751	0.50	209.0	2795	3048	2539	2400	181.3	9.9	572	6787	0.00	0.00	33.05	1.147	8198	0.000	0.000	2795	3049	2331	2398	2265	0	0	0	0	0	0	28.83	28.83	13.89
7082	0.57	266.6	2796	3049	2375	2248	148.9	8.8	605	7136	0.00	0.00	51.17	1.047	8710	0.000	0.000	2795	3048	2098	2162	2034	0	0	0	0	0	0	28.83	28.83	13.80
7431	0.65	320.0	2795	3048	2135	2009	116.0	9.0	641	7488	0.15	2.53	48.03	0.986	10756	0.137	0.087	2863	1642	1868	1926	1811	0	0	0	0	0	0	14.42	14.16	13.82
7627	0.68	320.0	2864	1641	1908	1800	92.9	12.1	677	7634	0.00	2.55	0.00	0.000	1030	0.000	0.120	2863	3050	1854	1906	1802	0	0	0	0	0	0	28.83	14.30	28.83
7938	0.68	323.4	2864	3051	1907	1796	52.8	11.7	709	7941	0.00	0.00	0.00	0.000	6	0.000	0.000	2863	3050	1850	1906	1795	0	0	0	0	0	0	28.83	28.83	28.83
8239	0.76	394.1	2864	3051	1907	1794	26.4	8.1	739	8283	0.00	2.42	37.70	0.256	8708	0.000	0.083	2871	1642	1582	1640	1524	0	0	0	0	0	0	28.83	14.42	14.33
8342	0.90	497.4	2873	1642	1665	1524	18.9	6.3	757	8412	0.15	2.55	59.50	0.230	11270	0.139	0.122	2933	3057	1157	1192	1123	0	0	0	0	0	0	14.45	14.40	14.28
8706	1.14	704.2	2933	3056	1221	1123	6.5	0.6	797	8810	0.17	2.45	91.40	0.197	10756	0.140	0.090	3013	1642	498	463	534	0	0	0	0	0	0	14.47	14.35	14.31
8813	end climb: SURFACE_DEPTH_REACHED
state	8813	begin surface coast
8833	end surface coast: CONTROL_FINISHED_OK
state	8833	begin surface