Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 25 * 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 25 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 32 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 15 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 -3353.6074 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 -3353.6074

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 32 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 15 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 25 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 290714,183710,7058.731,-14428.796,33,0.8,53,22.3 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 1.83 MHEAD_RNG_PITCHd_Wd 342.9,70007,-21.9,-11.905,-26.85,1887

_SM_ANGLEo -71.3 D_GRID 1000

GPS2 290714,184837,7058.669,-14428.833,5,0.8,25,22.3

Post-dive calculations and measurements:

FINISH 1.1,1.019270 _10V_AH 12.57,0.000

SM_CCo 8962,4.22,0.198,0,0,539,649.06 FG_AHR_24Vo 0.000

SM_GC 2.79,8.43,1.75,4.22,0.099,0.090,0.198,201,2801,539,-7.52,0.99,649.06,0,0,0,0,0,0,14.43,14.40,14.34 FG_AHR_10Vo 0.000

RAFOS_CLK 298 MEM 301636

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26767,831

IRIDIUM_FIX 7026.32,-14436.17,290714,155952 CAP_FILE_SIZE 131070,0

TT8_MAMPS 0.046438,0.046438 CFSIZE 2097872896,2087845888

HUMID 51.14 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.59332 INTR 0,9703.02,0x2378b6,7,5

TCM_TEMP 12.40 SOUNDSPEED 1449.5

XPDR_PINGS 0 EKF 9061,4259.698730,-8668.873047,1.116152,0.196913,-0.112053,-0.011391,0.000134,0.001264,0.000095,0.000525,0.000525,0.000034

SC_FREEKB 4009184 CURRENT 0.025,75.39,1

TM_FREEKB 7655296 GPS 290714,211948,7059.743,-14428.532,35,0.8,55,22.3

_24V_AH 12.50,8.785

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 467 132.92 nil 0 0 0.00

Roll_motor 54 162 111.97 nil 0 0 0.00

VBD_pump_during_apogee 592 2784 20639.11 nil 0 0 0.00

VBD_pump_during_surface 4 198 10.46 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 8965 15 1734.95

Iridium_during_xfer 446 192 1076.74 TMICL 9018 13 1502.74

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 6469 2 187.84

TT8_Active 609 8 66.84

TT8_Sampling 2493 28 883.95

TT8_CF8 78 35 35.33

TT8_Kalman 0 0 0.00

Analog_circuits 1902 10 239.20

GPS_charging 0 0 0.00

Compass 1229 0 11.59

RAFOS 1481 48 893.58

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 -145.9 205 2803 467 534 0.0 0.0 0 85 0.00 0.00 -63.78 0.000 16386 0.000 0.000 204 2805 2095 2137 2054 0 0 0 0 0 0 28.83 28.83 28.83

87 -0.69 -145.9 204 2805 2138 2054 3.4 -3.2 6 143 11.57 1.85 -32.95 0.000 19204 0.467 0.163 2388 3784 3783 3854 3712 0 0 0 0 0 0 14.13 14.27 14.53

367 -0.65 -145.9 2389 3785 3854 3716 67.2 -18.3 59 376 0.10 1.70 0.00 0.000 3078 0.314 0.085 2412 2803 3785 3854 3716 0 0 0 0 0 0 14.28 14.44 28.83

680 -0.65 -145.9 2414 2804 3854 3717 112.5 -13.6 91 682 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2803 3785 3854 3716 0 0 0 0 0 0 28.83 28.83 28.83

980 -0.67 -145.9 2413 2803 3855 3716 151.3 -12.8 121 989 0.00 2.40 0.00 0.000 516 0.000 0.087 2412 1385 3785 3854 3716 0 0 0 0 0 0 28.83 14.52 28.83

1093 -0.71 -145.9 2414 1386 3854 3717 164.5 -11.1 143 1102 0.00 2.55 0.00 0.000 1030 0.000 0.125 2413 2801 3786 3857 3716 0 0 0 0 0 0 28.83 14.50 28.83

1406 -0.76 -145.9 2413 2801 3855 3716 196.9 -9.4 175 1415 0.00 2.38 0.00 0.000 516 0.000 0.086 2413 1395 3784 3853 3716 0 0 0 0 0 0 28.83 14.54 28.83

1449 -0.81 -145.9 2413 1395 3855 3717 200.9 -9.2 183 1457 0.15 2.53 0.00 0.000 5126 0.142 0.123 2353 2805 3784 3853 3716 0 0 0 0 0 0 14.57 14.52 28.83

1761 -0.81 -145.9 2354 2806 3852 3717 237.5 -11.7 215 1764 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2805 3783 3851 3716 0 0 0 0 0 0 28.83 28.83 28.83

2081 -0.81 -145.9 2354 2806 3850 3717 274.1 -11.2 233 2091 0.00 2.40 0.00 0.000 516 0.000 0.087 2353 1387 3783 3850 3716 0 0 0 0 0 0 28.83 14.59 28.83

2155 -0.84 -145.9 2354 1389 3851 3717 282.1 -10.4 247 2163 0.00 2.53 0.00 0.000 1030 0.000 0.122 2348 2801 3780 3844 3716 0 0 0 0 0 0 28.83 14.56 28.83

2478 -0.84 -145.9 2348 2801 3851 3716 317.9 -11.1 261 2481 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2801 3783 3850 3716 0 0 0 0 0 0 28.83 28.83 28.83

2777 -0.84 -145.9 2348 2801 3850 3715 351.3 -11.2 271 2780 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2801 3782 3849 3716 0 0 0 0 0 0 28.83 28.83 28.83

3078 -0.84 -145.9 2349 2801 3850 3716 383.8 -10.8 281 3087 0.00 2.38 0.00 0.000 516 0.000 0.086 2347 1387 3782 3849 3715 0 0 0 0 0 0 28.83 14.64 28.83

3172 -0.86 -145.9 2349 1388 3850 3716 393.4 -10.1 299 3179 0.00 2.53 0.00 0.000 1030 0.000 0.124 2347 2805 3782 3849 3715 0 0 0 0 0 0 28.83 14.59 28.83

3504 -0.86 -145.9 2348 2805 3850 3715 429.8 -11.1 315 3506 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2805 3782 3849 3715 0 0 0 0 0 0 28.83 28.83 28.83

3803 -0.86 -145.9 2348 2806 3850 3716 461.6 -10.2 325 3813 0.00 2.40 0.00 0.000 516 0.000 0.086 2347 1388 3781 3849 3714 0 0 0 0 0 0 28.83 14.65 28.83

3902 -0.88 -145.9 2348 1389 3850 3716 471.6 -9.9 344 3910 0.00 2.53 0.00 0.000 1030 0.000 0.123 2347 2808 3782 3849 3715 0 0 0 0 0 0 28.83 14.61 28.83

4198 end dive: TARGET_DEPTH_EXCEEDED

state 4198 begin apogee

4201 -0.14 0.0 2348 3055 3850 3716 502.6 -10.6 358 4349 0.88 0.00 136.48 2.785 10246 0.287 0.000 2576 3055 3190 3272 3108 0 0 0 0 1 0 14.52 28.83 12.50

4352 end apogee: CONTROL_FINISHED_OK

state 4352 begin climb

4353 0.69 145.9 2577 3054 3281 3110 506.2 0.0 363 4495 0.93 1.48 129.48 1.516 10500 0.171 0.127 2844 3782 2585 2651 2520 0 0 0 0 0 0 13.66 13.54 13.08

4719 0.62 145.9 2844 3785 2637 2508 459.1 16.6 429 4729 0.00 1.33 0.00 0.000 1030 0.000 0.083 2849 3047 2572 2637 2507 0 0 0 0 0 0 28.83 14.03 28.83

5053 0.58 145.9 2850 3047 2638 2506 408.6 15.0 445 5062 0.12 1.35 0.00 0.000 4356 0.319 0.126 2822 3785 2571 2636 2507 0 0 0 0 0 0 14.09 14.19 28.83

5256 0.52 145.9 2822 3786 2638 2505 377.5 15.5 485 5266 0.00 1.30 0.00 0.000 1030 0.000 0.085 2827 3048 2569 2633 2505 0 0 0 0 0 0 28.83 14.31 28.83

5570 0.49 145.9 2828 3049 2637 2507 334.2 13.5 497 5573 0.15 0.00 0.00 0.000 4102 0.311 0.000 2794 3048 2571 2637 2505 0 0 0 0 0 0 14.27 28.83 28.83

5870 0.49 147.8 2795 3049 2638 2505 298.5 11.8 507 5873 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 3048 2571 2637 2505 0 0 0 0 0 0 28.83 28.83 28.83

6170 0.50 152.6 2795 3048 2638 2505 263.1 11.6 517 6172 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 3048 2571 2637 2505 0 0 0 0 0 0 28.83 28.83 28.83

6470 0.51 163.4 2795 3048 2638 2511 229.1 11.3 539 6493 0.00 0.00 14.57 1.209 8198 0.000 0.000 2794 3048 2509 2579 2440 0 0 0 0 0 0 28.83 28.83 13.98

6790 0.52 188.6 2795 3048 2572 2435 193.4 10.5 571 6819 0.00 1.42 22.40 1.228 8452 0.000 0.135 2794 3788 2405 2473 2337 0 0 0 0 0 0 28.83 14.33 13.91

6858 0.52 188.6 2795 3794 2466 2331 185.7 11.9 583 6866 0.00 1.30 0.00 0.000 1030 0.000 0.087 2798 3048 2398 2465 2331 0 0 0 0 0 0 28.83 14.39 28.83

7171 0.58 240.5 2801 3049 2464 2330 155.3 9.1 615 7226 0.00 2.45 46.12 1.081 8708 0.000 0.083 2807 1632 2192 2255 2130 0 0 0 0 0 0 28.83 14.23 13.85

7265 0.66 280.2 2807 1632 2245 2122 146.4 9.7 631 7307 0.10 2.58 34.95 1.011 11270 0.174 0.121 2850 3048 2041 2104 1979 0 0 0 0 0 0 14.28 14.27 13.75

7601 0.66 289.1 2851 3049 2077 1955 104.5 11.4 667 7609 0.00 2.42 0.00 0.000 516 0.000 0.084 2857 1633 2016 2077 1955 0 0 0 0 0 0 28.83 14.36 28.83

7654 0.70 304.3 2858 1634 2078 1956 98.8 11.1 677 7676 0.00 2.55 12.00 0.356 9222 0.000 0.121 2857 3050 1949 2016 1883 0 0 0 0 0 0 28.83 14.38 14.18

7980 0.71 310.2 2858 3051 2049 1883 60.1 11.6 711 7994 0.00 0.00 6.75 0.304 8710 0.000 0.000 2857 3050 1926 2001 1851 0 0 0 0 0 0 28.83 28.83 14.27

8290 0.79 390.8 2858 3051 2031 1853 32.7 7.5 743 8346 0.00 2.50 47.55 0.272 8708 0.000 0.086 2864 1632 1592 1652 1533 0 0 0 0 0 0 28.83 14.42 14.32

8405 0.90 453.5 2865 1632 1676 1533 23.1 8.5 763 8454 0.17 2.55 36.92 0.239 11270 0.129 0.123 2934 3049 1338 1389 1287 0 0 0 0 0 0 14.45 14.41 14.30

8758 1.10 643.8 2934 3045 1408 1288 11.2 1.5 801 8877 0.15 1.40 105.72 0.210 10500 0.149 0.137 2998 3786 561 520 603 0 0 0 0 0 0 14.47 14.33 14.30

8930 end climb: SURFACE_DEPTH_REACHED

state 8930 begin surface coast

8941 end surface coast: CONTROL_FINISHED_OK

state 8941 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	25	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	32	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	15	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	-3353.6074	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	290714,183710,7058.731,-14428.796,33,0.8,53,22.3	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	1.83	MHEAD_RNG_PITCHd_Wd	342.9,70007,-21.9,-11.905,-26.85,1887
_SM_ANGLEo	-71.3	D_GRID	1000
GPS2	290714,184837,7058.669,-14428.833,5,0.8,25,22.3

FINISH	1.1,1.019270	_10V_AH	12.57,0.000
SM_CCo	8962,4.22,0.198,0,0,539,649.06	FG_AHR_24Vo	0.000
SM_GC	2.79,8.43,1.75,4.22,0.099,0.090,0.198,201,2801,539,-7.52,0.99,649.06,0,0,0,0,0,0,14.43,14.40,14.34	FG_AHR_10Vo	0.000
RAFOS_CLK	298	MEM	301636
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26767,831
IRIDIUM_FIX	7026.32,-14436.17,290714,155952	CAP_FILE_SIZE	131070,0
TT8_MAMPS	0.046438,0.046438	CFSIZE	2097872896,2087845888
HUMID	51.14	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.59332	INTR	0,9703.02,0x2378b6,7,5
TCM_TEMP	12.40	SOUNDSPEED	1449.5
XPDR_PINGS	0	EKF	9061,4259.698730,-8668.873047,1.116152,0.196913,-0.112053,-0.011391,0.000134,0.001264,0.000095,0.000525,0.000525,0.000034
SC_FREEKB	4009184	CURRENT	0.025,75.39,1
TM_FREEKB	7655296	GPS	290714,211948,7059.743,-14428.532,35,0.8,55,22.3
_24V_AH	12.50,8.785

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	467	132.92	nil	0	0	0.00
Roll_motor	54	162	111.97	nil	0	0	0.00
VBD_pump_during_apogee	592	2784	20639.11	nil	0	0	0.00
VBD_pump_during_surface	4	198	10.46	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	8965	15	1734.95
Iridium_during_xfer	446	192	1076.74	TMICL	9018	13	1502.74
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	6469	2	187.84
TT8_Active	609	8	66.84
TT8_Sampling	2493	28	883.95
TT8_CF8	78	35	35.33
TT8_Kalman	0	0	0.00
Analog_circuits	1902	10	239.20
GPS_charging	0	0	0.00
Compass	1229	0	11.59
RAFOS	1481	48	893.58
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	205	2803	467	534	0.0	0.0	0	85	0.00	0.00	-63.78	0.000	16386	0.000	0.000	204	2805	2095	2137	2054	0	0	0	0	0	0	28.83	28.83	28.83
87	-0.69	-145.9	204	2805	2138	2054	3.4	-3.2	6	143	11.57	1.85	-32.95	0.000	19204	0.467	0.163	2388	3784	3783	3854	3712	0	0	0	0	0	0	14.13	14.27	14.53
367	-0.65	-145.9	2389	3785	3854	3716	67.2	-18.3	59	376	0.10	1.70	0.00	0.000	3078	0.314	0.085	2412	2803	3785	3854	3716	0	0	0	0	0	0	14.28	14.44	28.83
680	-0.65	-145.9	2414	2804	3854	3717	112.5	-13.6	91	682	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2803	3785	3854	3716	0	0	0	0	0	0	28.83	28.83	28.83
980	-0.67	-145.9	2413	2803	3855	3716	151.3	-12.8	121	989	0.00	2.40	0.00	0.000	516	0.000	0.087	2412	1385	3785	3854	3716	0	0	0	0	0	0	28.83	14.52	28.83
1093	-0.71	-145.9	2414	1386	3854	3717	164.5	-11.1	143	1102	0.00	2.55	0.00	0.000	1030	0.000	0.125	2413	2801	3786	3857	3716	0	0	0	0	0	0	28.83	14.50	28.83
1406	-0.76	-145.9	2413	2801	3855	3716	196.9	-9.4	175	1415	0.00	2.38	0.00	0.000	516	0.000	0.086	2413	1395	3784	3853	3716	0	0	0	0	0	0	28.83	14.54	28.83
1449	-0.81	-145.9	2413	1395	3855	3717	200.9	-9.2	183	1457	0.15	2.53	0.00	0.000	5126	0.142	0.123	2353	2805	3784	3853	3716	0	0	0	0	0	0	14.57	14.52	28.83
1761	-0.81	-145.9	2354	2806	3852	3717	237.5	-11.7	215	1764	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2805	3783	3851	3716	0	0	0	0	0	0	28.83	28.83	28.83
2081	-0.81	-145.9	2354	2806	3850	3717	274.1	-11.2	233	2091	0.00	2.40	0.00	0.000	516	0.000	0.087	2353	1387	3783	3850	3716	0	0	0	0	0	0	28.83	14.59	28.83
2155	-0.84	-145.9	2354	1389	3851	3717	282.1	-10.4	247	2163	0.00	2.53	0.00	0.000	1030	0.000	0.122	2348	2801	3780	3844	3716	0	0	0	0	0	0	28.83	14.56	28.83
2478	-0.84	-145.9	2348	2801	3851	3716	317.9	-11.1	261	2481	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2801	3783	3850	3716	0	0	0	0	0	0	28.83	28.83	28.83
2777	-0.84	-145.9	2348	2801	3850	3715	351.3	-11.2	271	2780	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2801	3782	3849	3716	0	0	0	0	0	0	28.83	28.83	28.83
3078	-0.84	-145.9	2349	2801	3850	3716	383.8	-10.8	281	3087	0.00	2.38	0.00	0.000	516	0.000	0.086	2347	1387	3782	3849	3715	0	0	0	0	0	0	28.83	14.64	28.83
3172	-0.86	-145.9	2349	1388	3850	3716	393.4	-10.1	299	3179	0.00	2.53	0.00	0.000	1030	0.000	0.124	2347	2805	3782	3849	3715	0	0	0	0	0	0	28.83	14.59	28.83
3504	-0.86	-145.9	2348	2805	3850	3715	429.8	-11.1	315	3506	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2805	3782	3849	3715	0	0	0	0	0	0	28.83	28.83	28.83
3803	-0.86	-145.9	2348	2806	3850	3716	461.6	-10.2	325	3813	0.00	2.40	0.00	0.000	516	0.000	0.086	2347	1388	3781	3849	3714	0	0	0	0	0	0	28.83	14.65	28.83
3902	-0.88	-145.9	2348	1389	3850	3716	471.6	-9.9	344	3910	0.00	2.53	0.00	0.000	1030	0.000	0.123	2347	2808	3782	3849	3715	0	0	0	0	0	0	28.83	14.61	28.83
4198	end dive: TARGET_DEPTH_EXCEEDED
state	4198	begin apogee
4201	-0.14	0.0	2348	3055	3850	3716	502.6	-10.6	358	4349	0.88	0.00	136.48	2.785	10246	0.287	0.000	2576	3055	3190	3272	3108	0	0	0	0	1	0	14.52	28.83	12.50
4352	end apogee: CONTROL_FINISHED_OK
state	4352	begin climb
4353	0.69	145.9	2577	3054	3281	3110	506.2	0.0	363	4495	0.93	1.48	129.48	1.516	10500	0.171	0.127	2844	3782	2585	2651	2520	0	0	0	0	0	0	13.66	13.54	13.08
4719	0.62	145.9	2844	3785	2637	2508	459.1	16.6	429	4729	0.00	1.33	0.00	0.000	1030	0.000	0.083	2849	3047	2572	2637	2507	0	0	0	0	0	0	28.83	14.03	28.83
5053	0.58	145.9	2850	3047	2638	2506	408.6	15.0	445	5062	0.12	1.35	0.00	0.000	4356	0.319	0.126	2822	3785	2571	2636	2507	0	0	0	0	0	0	14.09	14.19	28.83
5256	0.52	145.9	2822	3786	2638	2505	377.5	15.5	485	5266	0.00	1.30	0.00	0.000	1030	0.000	0.085	2827	3048	2569	2633	2505	0	0	0	0	0	0	28.83	14.31	28.83
5570	0.49	145.9	2828	3049	2637	2507	334.2	13.5	497	5573	0.15	0.00	0.00	0.000	4102	0.311	0.000	2794	3048	2571	2637	2505	0	0	0	0	0	0	14.27	28.83	28.83
5870	0.49	147.8	2795	3049	2638	2505	298.5	11.8	507	5873	0.00	0.00	0.00	0.000	6	0.000	0.000	2795	3048	2571	2637	2505	0	0	0	0	0	0	28.83	28.83	28.83
6170	0.50	152.6	2795	3048	2638	2505	263.1	11.6	517	6172	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	3048	2571	2637	2505	0	0	0	0	0	0	28.83	28.83	28.83
6470	0.51	163.4	2795	3048	2638	2511	229.1	11.3	539	6493	0.00	0.00	14.57	1.209	8198	0.000	0.000	2794	3048	2509	2579	2440	0	0	0	0	0	0	28.83	28.83	13.98
6790	0.52	188.6	2795	3048	2572	2435	193.4	10.5	571	6819	0.00	1.42	22.40	1.228	8452	0.000	0.135	2794	3788	2405	2473	2337	0	0	0	0	0	0	28.83	14.33	13.91
6858	0.52	188.6	2795	3794	2466	2331	185.7	11.9	583	6866	0.00	1.30	0.00	0.000	1030	0.000	0.087	2798	3048	2398	2465	2331	0	0	0	0	0	0	28.83	14.39	28.83
7171	0.58	240.5	2801	3049	2464	2330	155.3	9.1	615	7226	0.00	2.45	46.12	1.081	8708	0.000	0.083	2807	1632	2192	2255	2130	0	0	0	0	0	0	28.83	14.23	13.85
7265	0.66	280.2	2807	1632	2245	2122	146.4	9.7	631	7307	0.10	2.58	34.95	1.011	11270	0.174	0.121	2850	3048	2041	2104	1979	0	0	0	0	0	0	14.28	14.27	13.75
7601	0.66	289.1	2851	3049	2077	1955	104.5	11.4	667	7609	0.00	2.42	0.00	0.000	516	0.000	0.084	2857	1633	2016	2077	1955	0	0	0	0	0	0	28.83	14.36	28.83
7654	0.70	304.3	2858	1634	2078	1956	98.8	11.1	677	7676	0.00	2.55	12.00	0.356	9222	0.000	0.121	2857	3050	1949	2016	1883	0	0	0	0	0	0	28.83	14.38	14.18
7980	0.71	310.2	2858	3051	2049	1883	60.1	11.6	711	7994	0.00	0.00	6.75	0.304	8710	0.000	0.000	2857	3050	1926	2001	1851	0	0	0	0	0	0	28.83	28.83	14.27
8290	0.79	390.8	2858	3051	2031	1853	32.7	7.5	743	8346	0.00	2.50	47.55	0.272	8708	0.000	0.086	2864	1632	1592	1652	1533	0	0	0	0	0	0	28.83	14.42	14.32
8405	0.90	453.5	2865	1632	1676	1533	23.1	8.5	763	8454	0.17	2.55	36.92	0.239	11270	0.129	0.123	2934	3049	1338	1389	1287	0	0	0	0	0	0	14.45	14.41	14.30
8758	1.10	643.8	2934	3045	1408	1288	11.2	1.5	801	8877	0.15	1.40	105.72	0.210	10500	0.149	0.137	2998	3786	561	520	603	0	0	0	0	0	0	14.47	14.33	14.30
8930	end climb: SURFACE_DEPTH_REACHED
state	8930	begin surface coast
8941	end surface coast: CONTROL_FINISHED_OK
state	8941	begin surface