Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 30 * 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 30 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 30 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 3 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 3 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 3 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 -3360.2505 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 2600 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 36 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 36 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 3 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 3

CAPUPLOAD 0 ID 198 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -3360.2505

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 2600 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 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 30 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 30 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 300714,080448,7104.173,-14427.472,34,0.8,54,22.4 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 1.92 MHEAD_RNG_PITCHd_Wd 345.2,59902,-21.9,-11.905,-26.85,1887

_SM_ANGLEo -73.1 D_GRID 1000

GPS2 300714,081540,7104.137,-14427.624,4,0.7,25,22.4

Post-dive calculations and measurements:

FREEZE 14.34,4.750,-1.403,0,1,0 _10V_AH 12.62,0.000

SM_CCo 8684,122.30,0.215,0,0,498,658.88 FG_AHR_24Vo 0.000

SM_GC 2.03,8.20,0.43,0.00,0.099,0.094,0.000,203,2799,503,-7.43,1.02,658.14,0,0,0,0,0,0,14.47,14.47,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 563 MEM 299396

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23368,738

IRIDIUM_FIX 7026.32,-14428.51,300714,052713 CAP_FILE_SIZE 128119,0

TT8_MAMPS 0.043442,0.043442 CFSIZE 2097872896,2086535168

HUMID 51.73 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.57378 INTR 0,9692.11,0x2378b6,7,5

TCM_TEMP 12.10 SOUNDSPEED 1449.6

XPDR_PINGS 0 EKF 9077,4265.175293,-8667.225586,14.345601,0.009397,-0.007911,-0.015827,0.000138,0.001314,0.000099,0.002025,0.002025,0.000050

SC_FREEKB 4006944 CURRENT 0.026,8.34,1

TM_FREEKB 7584800 GPS 300714,104708,7105.305,-14427.173,14,0.8,34,22.4

_24V_AH 12.57,10.512

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 467 129.70 nil 0 0 0.00

Roll_motor 56 139 99.51 nil 0 0 0.00

VBD_pump_during_apogee 483 2669 16230.01 nil 0 0 0.00

VBD_pump_during_surface 122 214 330.47 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 8704 15 1657.88

Iridium_during_xfer 415 198 1035.45 TMICL 8756 13 1466.48

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 6622 2 193.05

TT8_Active 759 8 83.73

TT8_Sampling 2195 28 781.44

TT8_CF8 81 35 36.61

TT8_Kalman 0 0 0.00

Analog_circuits 1843 10 232.69

GPS_charging 0 0 0.00

Compass 1098 0 10.40

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.71 -145.9 201 2802 492 594 0.0 0.0 0 84 0.00 0.00 -62.88 0.000 16386 0.000 0.000 198 2801 2118 2152 2084 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.71 -145.9 199 2802 2152 2082 3.4 -3.4 6 137 11.50 0.00 -32.05 0.000 18950 0.467 0.000 2362 2800 3780 3907 3654 0 0 0 0 0 0 14.07 28.83 14.48

431 -0.67 -145.9 2362 2801 3913 3654 79.4 -17.6 43 440 0.00 1.83 0.00 0.000 260 0.000 0.130 2360 3806 3782 3911 3654 0 0 0 0 0 0 28.83 14.31 28.83

479 -0.62 -145.9 2361 3807 3912 3655 88.4 -18.5 52 489 0.12 1.75 0.00 0.000 3078 0.310 0.079 2404 2797 3780 3911 3650 0 0 0 0 0 0 14.26 14.38 28.83

785 -0.62 -145.9 2404 2797 3913 3654 131.2 -13.2 83 795 0.00 2.38 0.00 0.000 516 0.000 0.086 2404 1391 3783 3912 3654 0 0 0 0 0 0 28.83 14.46 28.83

884 -0.66 -145.9 2405 1393 3912 3655 143.1 -11.6 102 894 0.00 2.53 0.00 0.000 1030 0.000 0.118 2401 2804 3782 3911 3654 0 0 0 0 0 0 28.83 14.45 28.83

1189 -0.69 -145.9 2403 2805 3912 3655 178.7 -11.3 133 1197 0.00 2.38 0.00 0.000 516 0.000 0.083 2402 1396 3782 3911 3654 0 0 0 0 0 0 28.83 14.50 28.83

1252 -0.73 -145.9 2402 1397 3912 3654 185.1 -10.1 145 1259 0.12 2.50 0.00 0.000 5126 0.156 0.119 2349 2799 3782 3911 3654 0 0 0 0 0 0 14.54 14.50 28.83

1564 -0.73 -145.9 2350 2799 3912 3655 222.7 -12.1 177 1566 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 2799 3783 3912 3654 0 0 0 0 0 0 28.83 28.83 28.83

1863 -0.73 -145.9 2349 2799 3912 3654 257.9 -11.5 203 1866 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 2799 3786 3911 3662 0 0 0 0 0 0 28.83 28.83 28.83

2163 -0.73 -145.9 2350 2798 3911 3655 291.8 -11.3 213 2171 0.00 2.38 0.00 0.000 516 0.000 0.084 2349 1395 3782 3910 3654 0 0 0 0 0 0 28.83 14.61 28.83

2240 -0.73 -145.9 2346 1396 3910 3654 300.1 -10.2 228 2248 0.00 2.50 0.00 0.000 1030 0.000 0.118 2347 2803 3782 3910 3654 0 0 0 0 0 0 28.83 14.58 28.83

2558 -0.73 -145.9 2348 2802 3910 3654 335.4 -11.1 241 2565 0.00 2.38 0.00 0.000 516 0.000 0.085 2347 1387 3781 3908 3655 0 0 0 0 0 0 28.83 14.62 28.83

2609 -0.75 -145.9 2348 1387 3909 3655 340.9 -10.2 251 2619 0.00 2.50 0.00 0.000 1030 0.000 0.119 2347 2798 3781 3908 3654 0 0 0 0 0 0 28.83 14.59 28.83

2924 -0.75 -145.9 2348 2798 3909 3654 375.3 -11.0 263 2933 0.00 2.35 0.00 0.000 516 0.000 0.084 2343 1395 3780 3908 3653 0 0 0 0 0 0 28.83 14.64 28.83

2992 -0.77 -145.9 2348 1396 3909 3654 382.5 -10.1 276 3000 0.00 2.50 0.00 0.000 1030 0.000 0.119 2347 2805 3780 3907 3654 0 0 0 0 0 0 28.83 14.60 28.83

3319 -0.77 -145.9 2348 2806 3909 3655 417.9 -10.8 291 3329 0.00 2.38 0.00 0.000 516 0.000 0.083 2352 1387 3780 3907 3654 0 0 0 0 0 0 28.83 14.64 28.83

3369 -0.80 -145.9 2347 1388 3908 3651 423.1 -10.3 300 3377 0.00 2.50 0.00 0.000 1030 0.000 0.118 2347 2801 3784 3908 3660 0 0 0 0 0 0 28.83 14.61 28.83

3686 -0.80 -145.9 2348 2800 3910 3653 457.2 -10.7 313 3694 0.00 2.35 0.00 0.000 516 0.000 0.083 2347 1396 3780 3907 3653 0 0 0 0 0 0 28.83 14.65 28.83

3738 -0.82 -145.9 2348 1396 3908 3653 462.7 -10.1 323 3748 0.00 2.47 0.00 0.000 1030 0.000 0.116 2347 2800 3780 3907 3653 0 0 0 0 0 0 28.83 14.62 28.83

4053 -0.82 -145.9 2348 2800 3908 3654 496.0 -10.6 335 4056 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2799 3780 3907 3653 0 0 0 0 0 0 28.83 28.83 28.83

4111 end dive: TARGET_DEPTH_EXCEEDED

state 4111 begin apogee

4114 -0.14 0.0 2348 3052 3908 3650 502.3 -10.6 337 4259 0.77 0.00 133.50 2.669 10246 0.285 0.000 2549 3052 3187 3287 3088 0 0 0 0 1 0 14.54 28.83 12.57

4260 end apogee: CONTROL_FINISHED_OK

state 4260 begin climb

4262 0.71 145.9 2550 3052 3298 3088 505.9 0.0 341 4405 0.95 1.48 130.77 1.616 10500 0.189 0.123 2817 3787 2583 2650 2517 0 0 0 0 0 0 13.69 13.56 13.09

4539 0.67 145.9 2818 3787 2640 2504 477.2 15.1 389 4547 0.00 1.33 0.00 0.000 1030 0.000 0.080 2822 3048 2571 2638 2504 0 0 0 0 0 0 28.83 13.97 28.83

4871 0.64 145.9 2824 3048 2644 2503 432.4 13.5 405 4874 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 3048 2570 2638 2503 0 0 0 0 0 0 28.83 28.83 28.83

5171 0.62 145.9 2819 3048 2638 2502 391.3 13.6 415 5180 0.00 1.38 0.00 0.000 260 0.000 0.127 2827 3784 2570 2638 2502 0 0 0 0 0 0 28.83 14.33 28.83

5285 0.57 145.9 2824 3785 2638 2506 374.1 15.1 437 5292 0.12 1.27 0.00 0.000 5126 0.272 0.082 2794 3047 2569 2637 2502 0 0 0 0 0 0 14.31 14.43 28.83

5597 0.57 145.9 2794 3048 2638 2503 335.6 12.0 449 5599 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 3047 2569 2636 2502 0 0 0 0 0 0 28.83 28.83 28.83

5896 0.57 145.9 2795 3048 2638 2503 299.5 12.0 459 5906 0.00 1.35 0.00 0.000 260 0.000 0.129 2794 3781 2569 2637 2502 0 0 0 0 0 0 28.83 14.54 28.83

5940 0.54 145.9 2794 3781 2639 2502 293.8 13.3 467 5949 0.00 1.25 0.00 0.000 1030 0.000 0.083 2799 3054 2569 2637 2502 0 0 0 0 0 0 28.83 14.56 28.83

6264 0.54 145.9 2800 3053 2639 2502 255.1 11.9 481 6266 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 3054 2570 2637 2503 0 0 0 0 0 0 28.83 28.83 28.83

6563 0.56 170.3 2800 3055 2647 2503 221.1 10.6 507 6588 0.00 0.00 20.23 1.329 8198 0.000 0.000 2799 3054 2486 2557 2415 0 0 0 0 0 0 28.83 28.83 13.97

6884 0.57 188.5 2801 3054 2544 2405 184.8 10.9 539 6907 0.00 0.00 15.85 1.207 8198 0.000 0.000 2800 3054 2405 2476 2334 0 0 0 0 0 0 28.83 28.83 13.97

7204 0.61 237.7 2800 3054 2467 2329 153.0 9.2 571 7251 0.00 0.00 43.40 1.095 8198 0.000 0.000 2800 3054 2213 2280 2146 0 0 0 0 0 0 28.83 28.83 13.86

7546 0.68 282.1 2800 3054 2256 2127 120.3 9.5 605 7595 0.00 2.45 38.15 1.003 8708 0.000 0.085 2808 1641 2021 2082 1960 0 0 0 0 0 0 28.83 14.23 13.88

7634 0.78 328.4 2808 1641 2077 1955 112.1 9.4 620 7683 0.12 2.53 40.92 0.962 11270 0.151 0.115 2861 3047 1844 1904 1784 0 0 0 0 0 0 14.30 14.26 13.76

7977 0.80 328.4 2862 3048 1878 1761 68.2 12.4 657 7980 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 3047 1819 1877 1761 0 0 0 0 0 0 28.83 28.83 28.83

8277 0.88 389.7 2858 3047 1874 1760 37.7 8.6 687 8315 0.00 2.47 30.30 0.286 8708 0.000 0.084 2867 1645 1598 1657 1539 0 0 0 0 0 0 28.83 14.38 14.31

8389 0.98 440.8 2868 1645 1683 1539 27.7 9.1 707 8426 0.15 2.53 30.62 0.251 11270 0.139 0.116 2930 3051 1388 1441 1336 0 0 0 0 0 0 14.44 14.39 14.31

8680 end climb: NO_VERTICAL_VELOCITY

state 8680 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	30	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	30	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	3	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	3	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	3	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	-3360.2505	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	2600	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	36	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	300714,080448,7104.173,-14427.472,34,0.8,54,22.4	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	1.92	MHEAD_RNG_PITCHd_Wd	345.2,59902,-21.9,-11.905,-26.85,1887
_SM_ANGLEo	-73.1	D_GRID	1000
GPS2	300714,081540,7104.137,-14427.624,4,0.7,25,22.4

FREEZE	14.34,4.750,-1.403,0,1,0	_10V_AH	12.62,0.000
SM_CCo	8684,122.30,0.215,0,0,498,658.88	FG_AHR_24Vo	0.000
SM_GC	2.03,8.20,0.43,0.00,0.099,0.094,0.000,203,2799,503,-7.43,1.02,658.14,0,0,0,0,0,0,14.47,14.47,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	563	MEM	299396
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23368,738
IRIDIUM_FIX	7026.32,-14428.51,300714,052713	CAP_FILE_SIZE	128119,0
TT8_MAMPS	0.043442,0.043442	CFSIZE	2097872896,2086535168
HUMID	51.73	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.57378	INTR	0,9692.11,0x2378b6,7,5
TCM_TEMP	12.10	SOUNDSPEED	1449.6
XPDR_PINGS	0	EKF	9077,4265.175293,-8667.225586,14.345601,0.009397,-0.007911,-0.015827,0.000138,0.001314,0.000099,0.002025,0.002025,0.000050
SC_FREEKB	4006944	CURRENT	0.026,8.34,1
TM_FREEKB	7584800	GPS	300714,104708,7105.305,-14427.173,14,0.8,34,22.4
_24V_AH	12.57,10.512

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	467	129.70	nil	0	0	0.00
Roll_motor	56	139	99.51	nil	0	0	0.00
VBD_pump_during_apogee	483	2669	16230.01	nil	0	0	0.00
VBD_pump_during_surface	122	214	330.47	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	8704	15	1657.88
Iridium_during_xfer	415	198	1035.45	TMICL	8756	13	1466.48
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	6622	2	193.05
TT8_Active	759	8	83.73
TT8_Sampling	2195	28	781.44
TT8_CF8	81	35	36.61
TT8_Kalman	0	0	0.00
Analog_circuits	1843	10	232.69
GPS_charging	0	0	0.00
Compass	1098	0	10.40
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.71	-145.9	201	2802	492	594	0.0	0.0	0	84	0.00	0.00	-62.88	0.000	16386	0.000	0.000	198	2801	2118	2152	2084	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.71	-145.9	199	2802	2152	2082	3.4	-3.4	6	137	11.50	0.00	-32.05	0.000	18950	0.467	0.000	2362	2800	3780	3907	3654	0	0	0	0	0	0	14.07	28.83	14.48
431	-0.67	-145.9	2362	2801	3913	3654	79.4	-17.6	43	440	0.00	1.83	0.00	0.000	260	0.000	0.130	2360	3806	3782	3911	3654	0	0	0	0	0	0	28.83	14.31	28.83
479	-0.62	-145.9	2361	3807	3912	3655	88.4	-18.5	52	489	0.12	1.75	0.00	0.000	3078	0.310	0.079	2404	2797	3780	3911	3650	0	0	0	0	0	0	14.26	14.38	28.83
785	-0.62	-145.9	2404	2797	3913	3654	131.2	-13.2	83	795	0.00	2.38	0.00	0.000	516	0.000	0.086	2404	1391	3783	3912	3654	0	0	0	0	0	0	28.83	14.46	28.83
884	-0.66	-145.9	2405	1393	3912	3655	143.1	-11.6	102	894	0.00	2.53	0.00	0.000	1030	0.000	0.118	2401	2804	3782	3911	3654	0	0	0	0	0	0	28.83	14.45	28.83
1189	-0.69	-145.9	2403	2805	3912	3655	178.7	-11.3	133	1197	0.00	2.38	0.00	0.000	516	0.000	0.083	2402	1396	3782	3911	3654	0	0	0	0	0	0	28.83	14.50	28.83
1252	-0.73	-145.9	2402	1397	3912	3654	185.1	-10.1	145	1259	0.12	2.50	0.00	0.000	5126	0.156	0.119	2349	2799	3782	3911	3654	0	0	0	0	0	0	14.54	14.50	28.83
1564	-0.73	-145.9	2350	2799	3912	3655	222.7	-12.1	177	1566	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	2799	3783	3912	3654	0	0	0	0	0	0	28.83	28.83	28.83
1863	-0.73	-145.9	2349	2799	3912	3654	257.9	-11.5	203	1866	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	2799	3786	3911	3662	0	0	0	0	0	0	28.83	28.83	28.83
2163	-0.73	-145.9	2350	2798	3911	3655	291.8	-11.3	213	2171	0.00	2.38	0.00	0.000	516	0.000	0.084	2349	1395	3782	3910	3654	0	0	0	0	0	0	28.83	14.61	28.83
2240	-0.73	-145.9	2346	1396	3910	3654	300.1	-10.2	228	2248	0.00	2.50	0.00	0.000	1030	0.000	0.118	2347	2803	3782	3910	3654	0	0	0	0	0	0	28.83	14.58	28.83
2558	-0.73	-145.9	2348	2802	3910	3654	335.4	-11.1	241	2565	0.00	2.38	0.00	0.000	516	0.000	0.085	2347	1387	3781	3908	3655	0	0	0	0	0	0	28.83	14.62	28.83
2609	-0.75	-145.9	2348	1387	3909	3655	340.9	-10.2	251	2619	0.00	2.50	0.00	0.000	1030	0.000	0.119	2347	2798	3781	3908	3654	0	0	0	0	0	0	28.83	14.59	28.83
2924	-0.75	-145.9	2348	2798	3909	3654	375.3	-11.0	263	2933	0.00	2.35	0.00	0.000	516	0.000	0.084	2343	1395	3780	3908	3653	0	0	0	0	0	0	28.83	14.64	28.83
2992	-0.77	-145.9	2348	1396	3909	3654	382.5	-10.1	276	3000	0.00	2.50	0.00	0.000	1030	0.000	0.119	2347	2805	3780	3907	3654	0	0	0	0	0	0	28.83	14.60	28.83
3319	-0.77	-145.9	2348	2806	3909	3655	417.9	-10.8	291	3329	0.00	2.38	0.00	0.000	516	0.000	0.083	2352	1387	3780	3907	3654	0	0	0	0	0	0	28.83	14.64	28.83
3369	-0.80	-145.9	2347	1388	3908	3651	423.1	-10.3	300	3377	0.00	2.50	0.00	0.000	1030	0.000	0.118	2347	2801	3784	3908	3660	0	0	0	0	0	0	28.83	14.61	28.83
3686	-0.80	-145.9	2348	2800	3910	3653	457.2	-10.7	313	3694	0.00	2.35	0.00	0.000	516	0.000	0.083	2347	1396	3780	3907	3653	0	0	0	0	0	0	28.83	14.65	28.83
3738	-0.82	-145.9	2348	1396	3908	3653	462.7	-10.1	323	3748	0.00	2.47	0.00	0.000	1030	0.000	0.116	2347	2800	3780	3907	3653	0	0	0	0	0	0	28.83	14.62	28.83
4053	-0.82	-145.9	2348	2800	3908	3654	496.0	-10.6	335	4056	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2799	3780	3907	3653	0	0	0	0	0	0	28.83	28.83	28.83
4111	end dive: TARGET_DEPTH_EXCEEDED
state	4111	begin apogee
4114	-0.14	0.0	2348	3052	3908	3650	502.3	-10.6	337	4259	0.77	0.00	133.50	2.669	10246	0.285	0.000	2549	3052	3187	3287	3088	0	0	0	0	1	0	14.54	28.83	12.57
4260	end apogee: CONTROL_FINISHED_OK
state	4260	begin climb
4262	0.71	145.9	2550	3052	3298	3088	505.9	0.0	341	4405	0.95	1.48	130.77	1.616	10500	0.189	0.123	2817	3787	2583	2650	2517	0	0	0	0	0	0	13.69	13.56	13.09
4539	0.67	145.9	2818	3787	2640	2504	477.2	15.1	389	4547	0.00	1.33	0.00	0.000	1030	0.000	0.080	2822	3048	2571	2638	2504	0	0	0	0	0	0	28.83	13.97	28.83
4871	0.64	145.9	2824	3048	2644	2503	432.4	13.5	405	4874	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	3048	2570	2638	2503	0	0	0	0	0	0	28.83	28.83	28.83
5171	0.62	145.9	2819	3048	2638	2502	391.3	13.6	415	5180	0.00	1.38	0.00	0.000	260	0.000	0.127	2827	3784	2570	2638	2502	0	0	0	0	0	0	28.83	14.33	28.83
5285	0.57	145.9	2824	3785	2638	2506	374.1	15.1	437	5292	0.12	1.27	0.00	0.000	5126	0.272	0.082	2794	3047	2569	2637	2502	0	0	0	0	0	0	14.31	14.43	28.83
5597	0.57	145.9	2794	3048	2638	2503	335.6	12.0	449	5599	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	3047	2569	2636	2502	0	0	0	0	0	0	28.83	28.83	28.83
5896	0.57	145.9	2795	3048	2638	2503	299.5	12.0	459	5906	0.00	1.35	0.00	0.000	260	0.000	0.129	2794	3781	2569	2637	2502	0	0	0	0	0	0	28.83	14.54	28.83
5940	0.54	145.9	2794	3781	2639	2502	293.8	13.3	467	5949	0.00	1.25	0.00	0.000	1030	0.000	0.083	2799	3054	2569	2637	2502	0	0	0	0	0	0	28.83	14.56	28.83
6264	0.54	145.9	2800	3053	2639	2502	255.1	11.9	481	6266	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	3054	2570	2637	2503	0	0	0	0	0	0	28.83	28.83	28.83
6563	0.56	170.3	2800	3055	2647	2503	221.1	10.6	507	6588	0.00	0.00	20.23	1.329	8198	0.000	0.000	2799	3054	2486	2557	2415	0	0	0	0	0	0	28.83	28.83	13.97
6884	0.57	188.5	2801	3054	2544	2405	184.8	10.9	539	6907	0.00	0.00	15.85	1.207	8198	0.000	0.000	2800	3054	2405	2476	2334	0	0	0	0	0	0	28.83	28.83	13.97
7204	0.61	237.7	2800	3054	2467	2329	153.0	9.2	571	7251	0.00	0.00	43.40	1.095	8198	0.000	0.000	2800	3054	2213	2280	2146	0	0	0	0	0	0	28.83	28.83	13.86
7546	0.68	282.1	2800	3054	2256	2127	120.3	9.5	605	7595	0.00	2.45	38.15	1.003	8708	0.000	0.085	2808	1641	2021	2082	1960	0	0	0	0	0	0	28.83	14.23	13.88
7634	0.78	328.4	2808	1641	2077	1955	112.1	9.4	620	7683	0.12	2.53	40.92	0.962	11270	0.151	0.115	2861	3047	1844	1904	1784	0	0	0	0	0	0	14.30	14.26	13.76
7977	0.80	328.4	2862	3048	1878	1761	68.2	12.4	657	7980	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	3047	1819	1877	1761	0	0	0	0	0	0	28.83	28.83	28.83
8277	0.88	389.7	2858	3047	1874	1760	37.7	8.6	687	8315	0.00	2.47	30.30	0.286	8708	0.000	0.084	2867	1645	1598	1657	1539	0	0	0	0	0	0	28.83	14.38	14.31
8389	0.98	440.8	2868	1645	1683	1539	27.7	9.1	707	8426	0.15	2.53	30.62	0.251	11270	0.139	0.116	2930	3051	1388	1441	1336	0	0	0	0	0	0	14.44	14.39	14.31
8680	end climb: NO_VERTICAL_VELOCITY
state	8680	begin surface