Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 256 * 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 256 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 56 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 20 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 -5690.4976 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 -5690.4976

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 56 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 20 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 256 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 010914,004054,7340.625,-14506.020,34,0.8,54,22.9 SPEED_LIMITS 0.201,0.252

_CALLS 1 TGT_NAME 6

_XMS_NAKs 0 TGT_LATLONG 7435.000,-14230.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.63 MHEAD_RNG_PITCHd_Wd 14.4,126601,-22.3,-11.628,-24.76,1933

_SM_ANGLEo -75.4 D_GRID 1000

GPS2 010914,004851,7340.655,-14505.987,5,0.8,25,22.9

Post-dive calculations and measurements:

FREEZE 0.75,-1.155,-1.389,2,1,0 _24V_AH 12.68,78.029

FINISH 0.8,1.020493 _10V_AH 12.81,0.000

SM_CCo 11971,10.20,0.208,0,0,498,676.54 FG_AHR_24Vo 0.000

SM_GC 2.79,9.40,0.00,10.20,0.080,0.000,0.208,200,2743,498,-8.37,-0.51,676.54,0,0,0,0,0,0,14.25,28.83,14.11 FG_AHR_10Vo 0.000

RAFOS_CLK 33 MEM 216628

RAFOS_FIX 7324.021484,-14457.928711,260814,121206,2,255,0.38 DATA_FILE_SIZE 26678,809

IRIDIUM_FIX 7257.42,-14504.24,310814,212306 CAP_FILE_SIZE 126576,0

TT8_MAMPS 0.080143,0.080143 CFSIZE 2097872896,2042462208

HUMID 43.58 ERRORS 0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.5628 INTR 2,11959.32,0x2378b6,7,5

TCM_TEMP 12.40 SOUNDSPEED 1448.6

XPDR_PINGS 6 GPS 010914,040955,7341.596,-14502.228,16,0.7,36,22.9

SC_FREEKB 3823936

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 396 117.83 nil 0 0 0.00

Roll_motor 34 119 52.70 nil 0 0 0.00

VBD_pump_during_apogee 559 1977 14017.56 nil 0 0 0.00

VBD_pump_during_surface 10 208 26.91 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 12004 17 2669.62

Iridium_during_xfer 287 156 572.25 TMICL 0 0 0.00

Transponder_ping 1 420 7.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.16

TT8 0 0 0.00

LPSleep 9707 2 287.27

TT8_Active 626 9 75.99

TT8_Sampling 1940 28 719.46

TT8_CF8 177 35 81.24

TT8_Kalman 0 0 0.00

Analog_circuits 1564 10 200.41

GPS_charging 0 0 0.00

Compass 1206 0 11.59

RAFOS 1493 48 918.02

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.69 -145.9 205 2742 429 552 0.0 0.0 0 79 0.00 0.00 -61.72 0.000 16386 0.000 0.000 205 2741 2016 2026 2007 0 0 0 0 0 0 28.83 28.83 28.83

82 -0.69 -145.9 205 2741 2027 2008 3.4 -4.2 6 134 12.07 1.85 -35.47 0.000 18692 0.396 0.119 2658 3786 3856 3919 3794 0 0 0 0 0 0 13.98 14.23 14.47

359 -0.69 -145.9 2658 3787 3920 3799 89.7 -24.6 62 364 0.00 1.73 0.00 0.000 1030 0.000 0.051 2658 2754 3859 3920 3798 0 0 0 0 0 0 28.83 14.34 28.83

669 -0.69 -145.9 2659 2755 3920 3799 156.2 -19.9 94 674 0.00 1.85 0.00 0.000 260 0.000 0.100 2650 3785 3859 3920 3798 0 0 0 0 0 0 28.83 14.34 28.83

899 -0.69 -145.9 2647 3786 3915 3799 202.8 -19.7 140 904 0.00 1.70 0.00 0.000 1030 0.000 0.054 2650 2759 3858 3919 3798 0 0 0 0 0 0 28.83 14.47 28.83

1209 -0.69 -145.9 2650 2758 3929 3798 255.9 -16.1 170 1214 0.00 1.83 0.00 0.000 260 0.000 0.105 2641 3794 3858 3919 3798 0 0 0 0 0 0 28.83 14.41 28.83

1354 -0.69 -145.9 2642 3795 3921 3798 280.3 -16.6 199 1360 0.00 1.70 0.00 0.000 1030 0.000 0.054 2642 2764 3859 3920 3798 0 0 0 0 0 0 28.83 14.50 28.83

1659 -0.69 -145.9 2643 2765 3920 3799 327.1 -15.3 210 1665 0.12 2.33 0.00 0.000 2564 0.269 0.065 2667 1372 3858 3919 3798 0 0 0 0 0 0 14.33 14.50 28.83

1699 -0.69 -145.9 2669 1373 3920 3798 332.4 -12.5 218 1704 0.00 2.45 0.00 0.000 1030 0.000 0.097 2659 2762 3858 3919 3797 0 0 0 0 0 0 28.83 14.46 28.83

2020 -0.69 -145.9 2660 2763 3920 3798 374.1 -13.0 232 2021 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2762 3858 3919 3797 0 0 0 0 0 0 28.83 28.83 28.83

2319 -0.69 -145.9 2660 2769 3920 3798 412.3 -12.7 242 2320 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2763 3858 3919 3797 0 0 0 0 0 0 28.83 28.83 28.83

2619 -0.69 -145.9 2660 2764 3920 3798 450.1 -12.6 252 2624 0.00 2.33 0.00 0.000 516 0.000 0.063 2659 1368 3858 3919 3797 0 0 0 0 0 0 28.83 14.55 28.83

2654 -0.69 -145.9 2660 1368 3919 3798 454.3 -11.4 259 2659 0.00 2.45 0.00 0.000 1030 0.000 0.096 2648 2763 3862 3927 3797 0 0 0 0 0 0 28.83 14.47 28.83

2980 -0.69 -145.9 2649 2764 3920 3799 497.0 -13.3 274 2981 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2763 3858 3919 3797 0 0 0 0 0 0 28.83 28.83 28.83

3279 -0.69 -145.9 2649 2764 3920 3799 536.0 -13.0 284 3280 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2764 3858 3919 3797 0 0 0 0 0 0 28.83 28.83 28.83

3579 -0.69 -145.9 2649 2763 3921 3798 575.0 -12.9 294 3580 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2762 3858 3920 3797 0 0 0 0 0 0 28.83 28.83 28.83

3879 -0.69 -145.9 2650 2764 3920 3799 613.5 -12.8 304 3880 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2764 3858 3920 3797 0 0 0 0 0 0 28.83 28.83 28.83

4179 -0.69 -145.9 2649 2764 3920 3799 651.4 -12.6 314 4180 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2763 3858 3919 3798 0 0 0 0 0 0 28.83 28.83 28.83

4479 -0.69 -145.9 2649 2762 3920 3799 689.2 -12.6 324 4480 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2763 3859 3920 3798 0 0 0 0 0 0 28.83 28.83 28.83

4779 -0.69 -145.9 2650 2763 3921 3800 726.8 -12.5 334 4780 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2767 3858 3919 3798 0 0 0 0 0 0 28.83 28.83 28.83

4987 end dive: TARGET_DEPTH_EXCEEDED

state 4987 begin apogee

4992 -0.13 0.0 2649 2764 3920 3799 753.1 -12.5 341 5120 0.75 0.00 125.60 1.978 10244 0.228 0.000 2848 2764 3258 3276 3240 0 0 0 0 0 0 14.37 28.83 13.12

5121 end apogee: CONTROL_FINISHED_OK

state 5121 begin climb

5123 0.69 145.9 2850 2765 3273 3237 756.7 0.0 345 5256 0.85 0.00 124.53 1.843 11270 0.122 0.000 3108 2764 2657 2663 2652 0 0 0 0 0 0 13.80 28.83 12.68

5561 0.69 145.9 3109 2765 2664 2648 711.7 13.1 385 5561 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2764 2655 2663 2647 0 0 0 0 0 0 28.83 28.83 28.83

5860 0.69 145.9 3108 2764 2665 2646 672.7 12.9 395 5861 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2764 2654 2663 2646 0 0 0 0 0 0 28.83 28.83 28.83

6161 0.69 145.9 3108 2765 2664 2646 633.9 12.8 405 6161 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2764 2654 2663 2645 0 0 0 0 0 0 28.83 28.83 28.83

6461 0.69 145.9 3109 2764 2665 2645 595.7 12.6 415 6462 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2764 2654 2663 2645 0 0 0 0 0 0 28.83 28.83 28.83

6760 0.69 145.9 3109 2764 2665 2645 558.0 12.5 425 6761 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2764 2654 2664 2645 0 0 0 0 0 0 28.83 28.83 28.83

7061 0.69 145.9 3109 2765 2664 2646 520.4 12.6 435 7061 0.00 0.00 0.00 0.000 6 0.000 0.000 3107 2764 2654 2663 2645 0 0 0 0 0 0 28.83 28.83 28.83

7360 0.69 145.9 3109 2765 2664 2646 483.4 12.3 445 7361 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2769 2654 2664 2645 0 0 0 0 0 0 28.83 28.83 28.83

7661 0.69 145.9 3109 2770 2664 2646 447.0 12.2 455 7661 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2764 2654 2663 2645 0 0 0 0 0 0 28.83 28.83 28.83

7960 0.69 145.9 3109 2765 2664 2642 411.0 12.0 465 7961 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2764 2654 2664 2645 0 0 0 0 0 0 28.83 28.83 28.83

8260 0.69 145.9 3109 2764 2664 2646 376.0 11.7 475 8266 0.00 2.38 0.00 0.000 516 0.000 0.065 3124 1346 2654 2664 2645 0 0 0 0 0 0 28.83 14.57 28.83

8315 0.70 153.8 3120 1346 2664 2646 369.8 11.2 486 8327 0.00 2.42 7.43 1.463 9222 0.000 0.090 3119 2743 2630 2639 2622 0 0 0 0 0 0 28.83 14.54 13.90

8651 0.70 153.8 3120 2748 2637 2615 328.5 12.3 503 8652 0.00 0.00 0.00 0.000 6 0.000 0.000 3120 2744 2624 2634 2615 0 0 0 0 0 0 28.83 28.83 28.83

8951 0.70 160.8 3120 2743 2636 2616 293.8 11.3 513 8960 0.00 0.00 7.22 1.392 8198 0.000 0.000 3119 2743 2601 2609 2593 0 0 0 0 0 0 28.83 28.83 13.89

9251 0.71 177.0 3121 2744 2607 2590 259.9 10.8 523 9267 0.00 0.00 14.57 1.320 8198 0.000 0.000 3120 2743 2535 2543 2528 0 0 0 0 0 0 28.83 28.83 13.88

9551 0.74 222.3 3120 2744 2540 2521 229.1 9.2 545 9593 0.00 0.00 38.35 1.268 8198 0.000 0.000 3119 2742 2346 2348 2344 0 0 0 0 0 0 28.83 28.83 13.72

9893 0.77 257.4 3120 2744 2348 2338 193.6 9.8 579 9924 0.00 0.00 29.73 1.252 8198 0.000 0.000 3119 2743 2207 2210 2204 0 0 0 0 0 0 28.83 28.83 13.68

10223 0.80 300.2 3116 2744 2209 2192 161.3 9.4 612 10263 0.00 0.00 36.03 1.227 8198 0.000 0.000 3119 2743 2030 2035 2025 0 0 0 0 0 0 28.83 28.83 13.64

10562 0.83 344.5 3120 2743 2036 2015 128.1 9.3 646 10608 0.12 2.45 37.60 1.203 10756 0.126 0.067 3185 1356 1847 1848 1846 0 0 0 0 0 0 14.40 14.18 13.63

10647 0.83 344.5 3187 1356 1844 1844 117.3 13.0 663 10654 0.00 2.47 0.00 0.000 1030 0.000 0.091 3186 2738 1843 1844 1843 0 0 0 0 0 0 28.83 14.18 28.83

10952 0.83 344.5 3186 2738 1845 1838 77.6 11.8 694 10953 0.00 0.00 0.00 0.000 6 0.000 0.000 3186 2737 1841 1844 1838 0 0 0 0 0 0 28.83 28.83 28.83

11252 0.90 453.1 3186 2739 1846 1834 50.1 5.9 724 11304 0.00 0.00 47.17 0.337 8710 0.000 0.000 3186 2738 1409 1420 1398 0 0 0 0 0 0 28.83 28.83 14.02

11605 0.97 544.6 3186 2737 1425 1381 25.3 6.8 760 11651 0.00 2.40 41.20 0.277 8708 0.000 0.066 3190 1352 1035 1042 1029 0 0 0 0 0 0 28.83 14.18 14.00

11701 1.05 653.5 3191 1353 1045 1028 19.3 5.8 778 11758 0.12 2.50 49.60 0.255 11270 0.132 0.092 3246 2742 591 558 625 0 0 0 0 0 0 14.19 14.16 13.98

11934 end climb: SURFACE_DEPTH_REACHED

state 11934 begin surface coast

11955 end surface coast: CONTROL_FINISHED_OK

state 11955 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	256	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	56	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	20	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	-5690.4976	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	010914,004054,7340.625,-14506.020,34,0.8,54,22.9	SPEED_LIMITS	0.201,0.252
_CALLS	1	TGT_NAME	6
_XMS_NAKs	0	TGT_LATLONG	7435.000,-14230.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.63	MHEAD_RNG_PITCHd_Wd	14.4,126601,-22.3,-11.628,-24.76,1933
_SM_ANGLEo	-75.4	D_GRID	1000
GPS2	010914,004851,7340.655,-14505.987,5,0.8,25,22.9

FREEZE	0.75,-1.155,-1.389,2,1,0	_24V_AH	12.68,78.029
FINISH	0.8,1.020493	_10V_AH	12.81,0.000
SM_CCo	11971,10.20,0.208,0,0,498,676.54	FG_AHR_24Vo	0.000
SM_GC	2.79,9.40,0.00,10.20,0.080,0.000,0.208,200,2743,498,-8.37,-0.51,676.54,0,0,0,0,0,0,14.25,28.83,14.11	FG_AHR_10Vo	0.000
RAFOS_CLK	33	MEM	216628
RAFOS_FIX	7324.021484,-14457.928711,260814,121206,2,255,0.38	DATA_FILE_SIZE	26678,809
IRIDIUM_FIX	7257.42,-14504.24,310814,212306	CAP_FILE_SIZE	126576,0
TT8_MAMPS	0.080143,0.080143	CFSIZE	2097872896,2042462208
HUMID	43.58	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.5628	INTR	2,11959.32,0x2378b6,7,5
TCM_TEMP	12.40	SOUNDSPEED	1448.6
XPDR_PINGS	6	GPS	010914,040955,7341.596,-14502.228,16,0.7,36,22.9
SC_FREEKB	3823936

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	396	117.83	nil	0	0	0.00
Roll_motor	34	119	52.70	nil	0	0	0.00
VBD_pump_during_apogee	559	1977	14017.56	nil	0	0	0.00
VBD_pump_during_surface	10	208	26.91	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	12004	17	2669.62
Iridium_during_xfer	287	156	572.25	TMICL	0	0	0.00
Transponder_ping	1	420	7.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.16
TT8	0	0	0.00
LPSleep	9707	2	287.27
TT8_Active	626	9	75.99
TT8_Sampling	1940	28	719.46
TT8_CF8	177	35	81.24
TT8_Kalman	0	0	0.00
Analog_circuits	1564	10	200.41
GPS_charging	0	0	0.00
Compass	1206	0	11.59
RAFOS	1493	48	918.02
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.69	-145.9	205	2742	429	552	0.0	0.0	0	79	0.00	0.00	-61.72	0.000	16386	0.000	0.000	205	2741	2016	2026	2007	0	0	0	0	0	0	28.83	28.83	28.83
82	-0.69	-145.9	205	2741	2027	2008	3.4	-4.2	6	134	12.07	1.85	-35.47	0.000	18692	0.396	0.119	2658	3786	3856	3919	3794	0	0	0	0	0	0	13.98	14.23	14.47
359	-0.69	-145.9	2658	3787	3920	3799	89.7	-24.6	62	364	0.00	1.73	0.00	0.000	1030	0.000	0.051	2658	2754	3859	3920	3798	0	0	0	0	0	0	28.83	14.34	28.83
669	-0.69	-145.9	2659	2755	3920	3799	156.2	-19.9	94	674	0.00	1.85	0.00	0.000	260	0.000	0.100	2650	3785	3859	3920	3798	0	0	0	0	0	0	28.83	14.34	28.83
899	-0.69	-145.9	2647	3786	3915	3799	202.8	-19.7	140	904	0.00	1.70	0.00	0.000	1030	0.000	0.054	2650	2759	3858	3919	3798	0	0	0	0	0	0	28.83	14.47	28.83
1209	-0.69	-145.9	2650	2758	3929	3798	255.9	-16.1	170	1214	0.00	1.83	0.00	0.000	260	0.000	0.105	2641	3794	3858	3919	3798	0	0	0	0	0	0	28.83	14.41	28.83
1354	-0.69	-145.9	2642	3795	3921	3798	280.3	-16.6	199	1360	0.00	1.70	0.00	0.000	1030	0.000	0.054	2642	2764	3859	3920	3798	0	0	0	0	0	0	28.83	14.50	28.83
1659	-0.69	-145.9	2643	2765	3920	3799	327.1	-15.3	210	1665	0.12	2.33	0.00	0.000	2564	0.269	0.065	2667	1372	3858	3919	3798	0	0	0	0	0	0	14.33	14.50	28.83
1699	-0.69	-145.9	2669	1373	3920	3798	332.4	-12.5	218	1704	0.00	2.45	0.00	0.000	1030	0.000	0.097	2659	2762	3858	3919	3797	0	0	0	0	0	0	28.83	14.46	28.83
2020	-0.69	-145.9	2660	2763	3920	3798	374.1	-13.0	232	2021	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2762	3858	3919	3797	0	0	0	0	0	0	28.83	28.83	28.83
2319	-0.69	-145.9	2660	2769	3920	3798	412.3	-12.7	242	2320	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2763	3858	3919	3797	0	0	0	0	0	0	28.83	28.83	28.83
2619	-0.69	-145.9	2660	2764	3920	3798	450.1	-12.6	252	2624	0.00	2.33	0.00	0.000	516	0.000	0.063	2659	1368	3858	3919	3797	0	0	0	0	0	0	28.83	14.55	28.83
2654	-0.69	-145.9	2660	1368	3919	3798	454.3	-11.4	259	2659	0.00	2.45	0.00	0.000	1030	0.000	0.096	2648	2763	3862	3927	3797	0	0	0	0	0	0	28.83	14.47	28.83
2980	-0.69	-145.9	2649	2764	3920	3799	497.0	-13.3	274	2981	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2763	3858	3919	3797	0	0	0	0	0	0	28.83	28.83	28.83
3279	-0.69	-145.9	2649	2764	3920	3799	536.0	-13.0	284	3280	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2764	3858	3919	3797	0	0	0	0	0	0	28.83	28.83	28.83
3579	-0.69	-145.9	2649	2763	3921	3798	575.0	-12.9	294	3580	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2762	3858	3920	3797	0	0	0	0	0	0	28.83	28.83	28.83
3879	-0.69	-145.9	2650	2764	3920	3799	613.5	-12.8	304	3880	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2764	3858	3920	3797	0	0	0	0	0	0	28.83	28.83	28.83
4179	-0.69	-145.9	2649	2764	3920	3799	651.4	-12.6	314	4180	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2763	3858	3919	3798	0	0	0	0	0	0	28.83	28.83	28.83
4479	-0.69	-145.9	2649	2762	3920	3799	689.2	-12.6	324	4480	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2763	3859	3920	3798	0	0	0	0	0	0	28.83	28.83	28.83
4779	-0.69	-145.9	2650	2763	3921	3800	726.8	-12.5	334	4780	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2767	3858	3919	3798	0	0	0	0	0	0	28.83	28.83	28.83
4987	end dive: TARGET_DEPTH_EXCEEDED
state	4987	begin apogee
4992	-0.13	0.0	2649	2764	3920	3799	753.1	-12.5	341	5120	0.75	0.00	125.60	1.978	10244	0.228	0.000	2848	2764	3258	3276	3240	0	0	0	0	0	0	14.37	28.83	13.12
5121	end apogee: CONTROL_FINISHED_OK
state	5121	begin climb
5123	0.69	145.9	2850	2765	3273	3237	756.7	0.0	345	5256	0.85	0.00	124.53	1.843	11270	0.122	0.000	3108	2764	2657	2663	2652	0	0	0	0	0	0	13.80	28.83	12.68
5561	0.69	145.9	3109	2765	2664	2648	711.7	13.1	385	5561	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2764	2655	2663	2647	0	0	0	0	0	0	28.83	28.83	28.83
5860	0.69	145.9	3108	2764	2665	2646	672.7	12.9	395	5861	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2764	2654	2663	2646	0	0	0	0	0	0	28.83	28.83	28.83
6161	0.69	145.9	3108	2765	2664	2646	633.9	12.8	405	6161	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2764	2654	2663	2645	0	0	0	0	0	0	28.83	28.83	28.83
6461	0.69	145.9	3109	2764	2665	2645	595.7	12.6	415	6462	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2764	2654	2663	2645	0	0	0	0	0	0	28.83	28.83	28.83
6760	0.69	145.9	3109	2764	2665	2645	558.0	12.5	425	6761	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2764	2654	2664	2645	0	0	0	0	0	0	28.83	28.83	28.83
7061	0.69	145.9	3109	2765	2664	2646	520.4	12.6	435	7061	0.00	0.00	0.00	0.000	6	0.000	0.000	3107	2764	2654	2663	2645	0	0	0	0	0	0	28.83	28.83	28.83
7360	0.69	145.9	3109	2765	2664	2646	483.4	12.3	445	7361	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2769	2654	2664	2645	0	0	0	0	0	0	28.83	28.83	28.83
7661	0.69	145.9	3109	2770	2664	2646	447.0	12.2	455	7661	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2764	2654	2663	2645	0	0	0	0	0	0	28.83	28.83	28.83
7960	0.69	145.9	3109	2765	2664	2642	411.0	12.0	465	7961	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2764	2654	2664	2645	0	0	0	0	0	0	28.83	28.83	28.83
8260	0.69	145.9	3109	2764	2664	2646	376.0	11.7	475	8266	0.00	2.38	0.00	0.000	516	0.000	0.065	3124	1346	2654	2664	2645	0	0	0	0	0	0	28.83	14.57	28.83
8315	0.70	153.8	3120	1346	2664	2646	369.8	11.2	486	8327	0.00	2.42	7.43	1.463	9222	0.000	0.090	3119	2743	2630	2639	2622	0	0	0	0	0	0	28.83	14.54	13.90
8651	0.70	153.8	3120	2748	2637	2615	328.5	12.3	503	8652	0.00	0.00	0.00	0.000	6	0.000	0.000	3120	2744	2624	2634	2615	0	0	0	0	0	0	28.83	28.83	28.83
8951	0.70	160.8	3120	2743	2636	2616	293.8	11.3	513	8960	0.00	0.00	7.22	1.392	8198	0.000	0.000	3119	2743	2601	2609	2593	0	0	0	0	0	0	28.83	28.83	13.89
9251	0.71	177.0	3121	2744	2607	2590	259.9	10.8	523	9267	0.00	0.00	14.57	1.320	8198	0.000	0.000	3120	2743	2535	2543	2528	0	0	0	0	0	0	28.83	28.83	13.88
9551	0.74	222.3	3120	2744	2540	2521	229.1	9.2	545	9593	0.00	0.00	38.35	1.268	8198	0.000	0.000	3119	2742	2346	2348	2344	0	0	0	0	0	0	28.83	28.83	13.72
9893	0.77	257.4	3120	2744	2348	2338	193.6	9.8	579	9924	0.00	0.00	29.73	1.252	8198	0.000	0.000	3119	2743	2207	2210	2204	0	0	0	0	0	0	28.83	28.83	13.68
10223	0.80	300.2	3116	2744	2209	2192	161.3	9.4	612	10263	0.00	0.00	36.03	1.227	8198	0.000	0.000	3119	2743	2030	2035	2025	0	0	0	0	0	0	28.83	28.83	13.64
10562	0.83	344.5	3120	2743	2036	2015	128.1	9.3	646	10608	0.12	2.45	37.60	1.203	10756	0.126	0.067	3185	1356	1847	1848	1846	0	0	0	0	0	0	14.40	14.18	13.63
10647	0.83	344.5	3187	1356	1844	1844	117.3	13.0	663	10654	0.00	2.47	0.00	0.000	1030	0.000	0.091	3186	2738	1843	1844	1843	0	0	0	0	0	0	28.83	14.18	28.83
10952	0.83	344.5	3186	2738	1845	1838	77.6	11.8	694	10953	0.00	0.00	0.00	0.000	6	0.000	0.000	3186	2737	1841	1844	1838	0	0	0	0	0	0	28.83	28.83	28.83
11252	0.90	453.1	3186	2739	1846	1834	50.1	5.9	724	11304	0.00	0.00	47.17	0.337	8710	0.000	0.000	3186	2738	1409	1420	1398	0	0	0	0	0	0	28.83	28.83	14.02
11605	0.97	544.6	3186	2737	1425	1381	25.3	6.8	760	11651	0.00	2.40	41.20	0.277	8708	0.000	0.066	3190	1352	1035	1042	1029	0	0	0	0	0	0	28.83	14.18	14.00
11701	1.05	653.5	3191	1353	1045	1028	19.3	5.8	778	11758	0.12	2.50	49.60	0.255	11270	0.132	0.092	3246	2742	591	558	625	0	0	0	0	0	0	14.19	14.16	13.98
11934	end climb: SURFACE_DEPTH_REACHED
state	11934	begin surface coast
11955	end surface coast: CONTROL_FINISHED_OK
state	11955	begin surface