Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 31 * 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 31 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 31 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 -3361.509 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 -3361.509

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 31 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 31 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 300714,104708,7105.305,-14427.173,14,0.8,34,22.4 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 1.90 MHEAD_RNG_PITCHd_Wd 347.9,57746,-21.9,-11.905,-26.85,1887

_SM_ANGLEo -72.5 D_GRID 1000

GPS2 300714,105733,7105.300,-14427.286,4,0.8,24,22.4

Post-dive calculations and measurements:

FREEZE 13.76,3.483,-1.453,0,1,0 _10V_AH 12.59,0.000

SM_CCo 8725,149.93,0.203,0,0,499,658.88 FG_AHR_24Vo 0.000

SM_GC 2.21,7.85,0.43,0.00,0.076,0.096,0.000,203,2794,503,-7.43,0.82,658.14,0,0,0,0,0,0,14.47,14.48,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 341 MEM 298872

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26742,788

IRIDIUM_FIX 7032.78,-14424.66,300714,080835 CAP_FILE_SIZE 131487,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2086240256

HUMID 50.55 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.55425 INTR 0,9716.23,0x2378b6,7,5

TCM_TEMP 12.10 SOUNDSPEED 1449.6

XPDR_PINGS 0 EKF 9156,4266.363770,-8666.881836,13.764092,-0.010046,0.021148,-0.014857,0.000132,0.001253,0.000099,0.003025,0.003025,0.000050

SC_FREEKB 4006496 CURRENT 0.021,28.77,1

TM_FREEKB 7570848 GPS 300714,133024,7106.451,-14426.714,39,0.9,59,22.4

_24V_AH 12.59,10.863

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 472 129.91 nil 0 0 0.00

Roll_motor 61 156 122.12 nil 0 0 0.00

VBD_pump_during_apogee 448 2642 14919.28 nil 0 0 0.00

VBD_pump_during_surface 149 202 382.65 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 8746 15 1676.79

Iridium_during_xfer 393 198 982.03 TMICL 8796 13 1472.97

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 6559 2 190.76

TT8_Active 771 8 84.79

TT8_Sampling 2280 28 809.81

TT8_CF8 78 35 35.48

TT8_Kalman 0 0 0.00

Analog_circuits 1868 10 235.28

GPS_charging 0 0 0.00

Compass 1169 0 11.04

RAFOS 1479 48 893.79

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 -145.9 203 2799 469 534 0.0 0.0 0 84 0.00 0.00 -63.17 0.000 16386 0.000 0.000 203 2797 2100 2141 2059 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.71 -145.9 204 2800 2142 2059 3.6 -3.8 6 137 11.48 1.88 -31.38 0.000 19204 0.473 0.157 2353 3788 3784 3842 3727 0 0 0 0 0 0 14.14 14.31 14.54

291 -0.62 -145.9 2350 3790 3842 3731 57.6 -24.4 44 303 0.20 1.67 0.00 0.000 3078 0.344 0.080 2395 2796 3786 3842 3731 0 0 0 0 0 0 14.28 14.44 28.83

597 -0.62 -145.9 2395 2796 3842 3732 105.8 -14.6 75 600 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2796 3787 3842 3732 0 0 0 0 0 0 28.83 28.83 28.83

897 -0.62 -145.9 2395 2796 3842 3732 147.0 -12.9 105 905 0.00 2.38 0.00 0.000 516 0.000 0.086 2395 1393 3786 3841 3732 0 0 0 0 0 0 28.83 14.52 28.83

974 -0.65 -145.9 2396 1393 3843 3733 156.3 -11.9 120 985 0.00 2.50 0.00 0.000 1030 0.000 0.116 2387 2801 3786 3841 3731 0 0 0 0 0 0 28.83 14.50 28.83

1280 -0.67 -145.9 2388 2802 3842 3732 191.9 -10.9 151 1282 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2801 3786 3842 3731 0 0 0 0 0 0 28.83 28.83 28.83

1579 -0.70 -145.9 2388 2802 3842 3731 222.6 -9.9 181 1588 0.00 2.38 0.00 0.000 516 0.000 0.083 2387 1395 3785 3841 3730 0 0 0 0 0 0 28.83 14.56 28.83

1647 -0.75 -145.9 2388 1393 3842 3730 229.0 -9.4 194 1656 0.00 2.50 0.00 0.000 1030 0.000 0.119 2387 2801 3785 3841 3730 0 0 0 0 0 0 28.83 14.54 28.83

1962 -0.78 -145.9 2388 2801 3842 3729 259.1 -9.5 220 1972 0.12 2.38 0.00 0.000 4612 0.157 0.082 2331 1397 3784 3841 3728 0 0 0 0 0 0 14.57 14.59 28.83

2057 -0.78 -145.9 2332 1397 3838 3728 269.9 -11.5 238 2064 0.00 2.50 0.00 0.000 1030 0.000 0.117 2321 2805 3784 3841 3728 0 0 0 0 0 0 28.83 14.56 28.83

2389 -0.78 -145.9 2323 2805 3843 3727 311.7 -12.5 254 2396 0.00 2.38 0.00 0.000 516 0.000 0.083 2327 1393 3784 3841 3727 0 0 0 0 0 0 28.83 14.61 28.83

2445 -0.78 -145.9 2322 1393 3842 3728 318.4 -11.5 265 2455 0.12 2.50 0.00 0.000 3078 0.354 0.117 2341 2805 3784 3841 3728 0 0 0 0 0 0 14.49 14.58 28.83

2751 -0.78 -145.9 2341 2805 3843 3727 353.2 -11.5 276 2760 0.00 2.38 0.00 0.000 516 0.000 0.084 2347 1391 3784 3841 3727 0 0 0 0 0 0 28.83 14.62 28.83

2789 -0.78 -145.9 2341 1391 3842 3727 357.5 -11.2 283 2798 0.00 2.50 0.00 0.000 1030 0.000 0.116 2334 2803 3784 3841 3727 0 0 0 0 0 0 28.83 14.57 28.83

3117 -0.78 -145.9 2335 2803 3842 3727 395.4 -11.5 298 3125 0.00 2.38 0.00 0.000 516 0.000 0.083 2334 1387 3783 3841 3725 0 0 0 0 0 0 28.83 14.64 28.83

3194 -0.78 -145.9 2335 1386 3842 3725 404.1 -10.6 313 3202 0.00 2.50 0.00 0.000 1030 0.000 0.119 2334 2799 3783 3841 3725 0 0 0 0 0 0 28.83 14.61 28.83

3512 -0.78 -145.9 2335 2800 3841 3726 440.2 -11.4 326 3515 0.00 0.00 0.00 0.000 6 0.000 0.000 2334 2799 3783 3841 3726 0 0 0 0 0 0 28.83 28.83 28.83

3812 -0.78 -145.9 2335 2800 3842 3726 474.3 -11.3 336 3821 0.00 2.35 0.00 0.000 516 0.000 0.083 2334 1396 3782 3841 3724 0 0 0 0 0 0 28.83 14.60 28.83

3916 -0.78 -145.9 2335 1395 3842 3725 485.5 -11.1 356 3925 0.00 2.50 0.00 0.000 1030 0.000 0.117 2334 2808 3783 3841 3725 0 0 0 0 0 0 28.83 14.54 28.83

4058 end dive: TARGET_DEPTH_EXCEEDED

state 4058 begin apogee

4061 -0.14 0.0 2335 3055 3843 3725 501.4 -11.3 364 4201 0.82 0.00 130.85 2.642 10246 0.293 0.000 2545 3054 3188 3272 3104 0 0 0 0 1 0 14.45 28.83 12.59

4203 end apogee: CONTROL_FINISHED_OK

state 4203 begin climb

4204 0.71 145.9 2546 3055 3285 3105 504.8 0.0 368 4349 0.98 1.45 129.05 1.522 10500 0.191 0.123 2818 3785 2580 2651 2509 0 0 0 0 0 0 13.66 13.56 13.07

4483 0.67 145.9 2819 3786 2651 2503 475.4 14.9 416 4493 0.00 1.30 0.00 0.000 1030 0.000 0.080 2823 3058 2573 2644 2502 0 0 0 0 0 0 28.83 13.94 28.83

4817 0.64 145.9 2824 3059 2645 2502 429.6 13.6 432 4826 0.00 1.38 0.00 0.000 260 0.000 0.125 2823 3787 2573 2644 2502 0 0 0 0 0 0 28.83 14.16 28.83

4880 0.59 145.9 2824 3787 2644 2503 420.2 15.2 444 4890 0.12 1.30 0.00 0.000 5126 0.270 0.080 2794 3045 2572 2643 2501 0 0 0 0 0 0 14.12 14.23 28.83

5215 0.59 148.3 2794 3045 2644 2501 379.9 11.8 460 5218 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 3045 2570 2643 2498 0 0 0 0 0 0 28.83 28.83 28.83

5514 0.59 148.3 2795 3046 2645 2502 344.0 11.9 470 5522 0.00 1.38 0.00 0.000 260 0.000 0.127 2794 3783 2572 2643 2501 0 0 0 0 0 0 28.83 14.41 28.83

5595 0.57 148.3 2794 3783 2645 2501 333.3 13.3 486 5603 0.00 1.25 0.00 0.000 1030 0.000 0.083 2799 3057 2572 2643 2501 0 0 0 0 0 0 28.83 14.47 28.83

5908 0.57 148.3 2800 3057 2644 2502 295.4 12.0 498 5910 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 3059 2572 2643 2501 0 0 0 0 0 0 28.83 28.83 28.83

6207 0.57 148.3 2800 3057 2644 2501 259.0 12.0 508 6217 0.00 1.33 0.00 0.000 260 0.000 0.125 2799 3780 2572 2643 2501 0 0 0 0 0 0 28.83 14.54 28.83

6256 0.55 148.3 2800 3781 2644 2502 252.6 13.4 517 6264 0.00 1.25 0.00 0.000 1030 0.000 0.083 2805 3049 2572 2643 2501 0 0 0 0 0 0 28.83 14.59 28.83

6563 0.55 148.3 2806 3050 2644 2502 216.4 12.1 547 6566 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 3050 2572 2643 2501 0 0 0 0 0 0 28.83 28.83 28.83

6863 0.56 173.9 2805 3049 2644 2502 183.3 10.5 577 6896 0.00 0.00 24.05 1.242 8198 0.000 0.000 2804 3049 2464 2539 2389 0 0 0 0 0 0 28.83 28.83 13.97

7194 0.60 230.6 2806 3050 2530 2385 150.5 8.8 610 7252 0.00 0.00 49.55 1.114 8710 0.000 0.000 2804 3050 2232 2301 2163 0 0 0 0 0 0 28.83 28.83 13.81

7546 0.67 272.8 2806 3050 2290 2155 116.8 9.6 647 7590 0.00 2.50 37.17 1.043 8708 0.000 0.083 2815 1644 2063 2131 1995 0 0 0 0 0 0 28.83 14.22 13.82

7619 0.74 304.4 2815 1644 2123 1988 109.7 10.2 659 7655 0.00 2.55 28.10 1.015 9222 0.000 0.115 2815 3056 1940 2007 1874 0 0 0 0 0 0 28.83 14.24 13.77

7959 0.82 343.9 2814 3056 1983 1852 74.6 9.7 695 7988 0.12 2.47 18.08 0.375 10756 0.152 0.084 2877 1649 1787 1856 1719 0 0 0 0 0 0 14.40 14.34 14.18

8047 0.85 343.9 2878 1650 1879 1721 64.0 12.4 711 8056 0.00 2.53 2.72 0.214 9222 0.000 0.116 2877 3056 1781 1848 1715 0 0 0 0 0 0 28.83 14.36 14.29

8360 0.90 387.6 2878 3057 1878 1716 30.2 9.5 743 8395 0.00 1.38 25.83 0.253 8452 0.000 0.130 2877 3787 1608 1672 1544 0 0 0 0 0 0 28.83 14.38 14.33

8460 0.93 389.5 2878 3788 1689 1544 19.1 11.8 761 8468 0.00 1.27 3.08 0.210 9222 0.000 0.084 2881 3049 1596 1662 1531 0 0 0 0 0 0 28.83 14.45 14.33

8721 end climb: NO_VERTICAL_VELOCITY

state 8721 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	31	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	31	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	-3361.509	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	300714,104708,7105.305,-14427.173,14,0.8,34,22.4	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	1.90	MHEAD_RNG_PITCHd_Wd	347.9,57746,-21.9,-11.905,-26.85,1887
_SM_ANGLEo	-72.5	D_GRID	1000
GPS2	300714,105733,7105.300,-14427.286,4,0.8,24,22.4

FREEZE	13.76,3.483,-1.453,0,1,0	_10V_AH	12.59,0.000
SM_CCo	8725,149.93,0.203,0,0,499,658.88	FG_AHR_24Vo	0.000
SM_GC	2.21,7.85,0.43,0.00,0.076,0.096,0.000,203,2794,503,-7.43,0.82,658.14,0,0,0,0,0,0,14.47,14.48,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	341	MEM	298872
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26742,788
IRIDIUM_FIX	7032.78,-14424.66,300714,080835	CAP_FILE_SIZE	131487,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2086240256
HUMID	50.55	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.55425	INTR	0,9716.23,0x2378b6,7,5
TCM_TEMP	12.10	SOUNDSPEED	1449.6
XPDR_PINGS	0	EKF	9156,4266.363770,-8666.881836,13.764092,-0.010046,0.021148,-0.014857,0.000132,0.001253,0.000099,0.003025,0.003025,0.000050
SC_FREEKB	4006496	CURRENT	0.021,28.77,1
TM_FREEKB	7570848	GPS	300714,133024,7106.451,-14426.714,39,0.9,59,22.4
_24V_AH	12.59,10.863

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	472	129.91	nil	0	0	0.00
Roll_motor	61	156	122.12	nil	0	0	0.00
VBD_pump_during_apogee	448	2642	14919.28	nil	0	0	0.00
VBD_pump_during_surface	149	202	382.65	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	8746	15	1676.79
Iridium_during_xfer	393	198	982.03	TMICL	8796	13	1472.97
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	6559	2	190.76
TT8_Active	771	8	84.79
TT8_Sampling	2280	28	809.81
TT8_CF8	78	35	35.48
TT8_Kalman	0	0	0.00
Analog_circuits	1868	10	235.28
GPS_charging	0	0	0.00
Compass	1169	0	11.04
RAFOS	1479	48	893.79
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	203	2799	469	534	0.0	0.0	0	84	0.00	0.00	-63.17	0.000	16386	0.000	0.000	203	2797	2100	2141	2059	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.71	-145.9	204	2800	2142	2059	3.6	-3.8	6	137	11.48	1.88	-31.38	0.000	19204	0.473	0.157	2353	3788	3784	3842	3727	0	0	0	0	0	0	14.14	14.31	14.54
291	-0.62	-145.9	2350	3790	3842	3731	57.6	-24.4	44	303	0.20	1.67	0.00	0.000	3078	0.344	0.080	2395	2796	3786	3842	3731	0	0	0	0	0	0	14.28	14.44	28.83
597	-0.62	-145.9	2395	2796	3842	3732	105.8	-14.6	75	600	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2796	3787	3842	3732	0	0	0	0	0	0	28.83	28.83	28.83
897	-0.62	-145.9	2395	2796	3842	3732	147.0	-12.9	105	905	0.00	2.38	0.00	0.000	516	0.000	0.086	2395	1393	3786	3841	3732	0	0	0	0	0	0	28.83	14.52	28.83
974	-0.65	-145.9	2396	1393	3843	3733	156.3	-11.9	120	985	0.00	2.50	0.00	0.000	1030	0.000	0.116	2387	2801	3786	3841	3731	0	0	0	0	0	0	28.83	14.50	28.83
1280	-0.67	-145.9	2388	2802	3842	3732	191.9	-10.9	151	1282	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2801	3786	3842	3731	0	0	0	0	0	0	28.83	28.83	28.83
1579	-0.70	-145.9	2388	2802	3842	3731	222.6	-9.9	181	1588	0.00	2.38	0.00	0.000	516	0.000	0.083	2387	1395	3785	3841	3730	0	0	0	0	0	0	28.83	14.56	28.83
1647	-0.75	-145.9	2388	1393	3842	3730	229.0	-9.4	194	1656	0.00	2.50	0.00	0.000	1030	0.000	0.119	2387	2801	3785	3841	3730	0	0	0	0	0	0	28.83	14.54	28.83
1962	-0.78	-145.9	2388	2801	3842	3729	259.1	-9.5	220	1972	0.12	2.38	0.00	0.000	4612	0.157	0.082	2331	1397	3784	3841	3728	0	0	0	0	0	0	14.57	14.59	28.83
2057	-0.78	-145.9	2332	1397	3838	3728	269.9	-11.5	238	2064	0.00	2.50	0.00	0.000	1030	0.000	0.117	2321	2805	3784	3841	3728	0	0	0	0	0	0	28.83	14.56	28.83
2389	-0.78	-145.9	2323	2805	3843	3727	311.7	-12.5	254	2396	0.00	2.38	0.00	0.000	516	0.000	0.083	2327	1393	3784	3841	3727	0	0	0	0	0	0	28.83	14.61	28.83
2445	-0.78	-145.9	2322	1393	3842	3728	318.4	-11.5	265	2455	0.12	2.50	0.00	0.000	3078	0.354	0.117	2341	2805	3784	3841	3728	0	0	0	0	0	0	14.49	14.58	28.83
2751	-0.78	-145.9	2341	2805	3843	3727	353.2	-11.5	276	2760	0.00	2.38	0.00	0.000	516	0.000	0.084	2347	1391	3784	3841	3727	0	0	0	0	0	0	28.83	14.62	28.83
2789	-0.78	-145.9	2341	1391	3842	3727	357.5	-11.2	283	2798	0.00	2.50	0.00	0.000	1030	0.000	0.116	2334	2803	3784	3841	3727	0	0	0	0	0	0	28.83	14.57	28.83
3117	-0.78	-145.9	2335	2803	3842	3727	395.4	-11.5	298	3125	0.00	2.38	0.00	0.000	516	0.000	0.083	2334	1387	3783	3841	3725	0	0	0	0	0	0	28.83	14.64	28.83
3194	-0.78	-145.9	2335	1386	3842	3725	404.1	-10.6	313	3202	0.00	2.50	0.00	0.000	1030	0.000	0.119	2334	2799	3783	3841	3725	0	0	0	0	0	0	28.83	14.61	28.83
3512	-0.78	-145.9	2335	2800	3841	3726	440.2	-11.4	326	3515	0.00	0.00	0.00	0.000	6	0.000	0.000	2334	2799	3783	3841	3726	0	0	0	0	0	0	28.83	28.83	28.83
3812	-0.78	-145.9	2335	2800	3842	3726	474.3	-11.3	336	3821	0.00	2.35	0.00	0.000	516	0.000	0.083	2334	1396	3782	3841	3724	0	0	0	0	0	0	28.83	14.60	28.83
3916	-0.78	-145.9	2335	1395	3842	3725	485.5	-11.1	356	3925	0.00	2.50	0.00	0.000	1030	0.000	0.117	2334	2808	3783	3841	3725	0	0	0	0	0	0	28.83	14.54	28.83
4058	end dive: TARGET_DEPTH_EXCEEDED
state	4058	begin apogee
4061	-0.14	0.0	2335	3055	3843	3725	501.4	-11.3	364	4201	0.82	0.00	130.85	2.642	10246	0.293	0.000	2545	3054	3188	3272	3104	0	0	0	0	1	0	14.45	28.83	12.59
4203	end apogee: CONTROL_FINISHED_OK
state	4203	begin climb
4204	0.71	145.9	2546	3055	3285	3105	504.8	0.0	368	4349	0.98	1.45	129.05	1.522	10500	0.191	0.123	2818	3785	2580	2651	2509	0	0	0	0	0	0	13.66	13.56	13.07
4483	0.67	145.9	2819	3786	2651	2503	475.4	14.9	416	4493	0.00	1.30	0.00	0.000	1030	0.000	0.080	2823	3058	2573	2644	2502	0	0	0	0	0	0	28.83	13.94	28.83
4817	0.64	145.9	2824	3059	2645	2502	429.6	13.6	432	4826	0.00	1.38	0.00	0.000	260	0.000	0.125	2823	3787	2573	2644	2502	0	0	0	0	0	0	28.83	14.16	28.83
4880	0.59	145.9	2824	3787	2644	2503	420.2	15.2	444	4890	0.12	1.30	0.00	0.000	5126	0.270	0.080	2794	3045	2572	2643	2501	0	0	0	0	0	0	14.12	14.23	28.83
5215	0.59	148.3	2794	3045	2644	2501	379.9	11.8	460	5218	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	3045	2570	2643	2498	0	0	0	0	0	0	28.83	28.83	28.83
5514	0.59	148.3	2795	3046	2645	2502	344.0	11.9	470	5522	0.00	1.38	0.00	0.000	260	0.000	0.127	2794	3783	2572	2643	2501	0	0	0	0	0	0	28.83	14.41	28.83
5595	0.57	148.3	2794	3783	2645	2501	333.3	13.3	486	5603	0.00	1.25	0.00	0.000	1030	0.000	0.083	2799	3057	2572	2643	2501	0	0	0	0	0	0	28.83	14.47	28.83
5908	0.57	148.3	2800	3057	2644	2502	295.4	12.0	498	5910	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	3059	2572	2643	2501	0	0	0	0	0	0	28.83	28.83	28.83
6207	0.57	148.3	2800	3057	2644	2501	259.0	12.0	508	6217	0.00	1.33	0.00	0.000	260	0.000	0.125	2799	3780	2572	2643	2501	0	0	0	0	0	0	28.83	14.54	28.83
6256	0.55	148.3	2800	3781	2644	2502	252.6	13.4	517	6264	0.00	1.25	0.00	0.000	1030	0.000	0.083	2805	3049	2572	2643	2501	0	0	0	0	0	0	28.83	14.59	28.83
6563	0.55	148.3	2806	3050	2644	2502	216.4	12.1	547	6566	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	3050	2572	2643	2501	0	0	0	0	0	0	28.83	28.83	28.83
6863	0.56	173.9	2805	3049	2644	2502	183.3	10.5	577	6896	0.00	0.00	24.05	1.242	8198	0.000	0.000	2804	3049	2464	2539	2389	0	0	0	0	0	0	28.83	28.83	13.97
7194	0.60	230.6	2806	3050	2530	2385	150.5	8.8	610	7252	0.00	0.00	49.55	1.114	8710	0.000	0.000	2804	3050	2232	2301	2163	0	0	0	0	0	0	28.83	28.83	13.81
7546	0.67	272.8	2806	3050	2290	2155	116.8	9.6	647	7590	0.00	2.50	37.17	1.043	8708	0.000	0.083	2815	1644	2063	2131	1995	0	0	0	0	0	0	28.83	14.22	13.82
7619	0.74	304.4	2815	1644	2123	1988	109.7	10.2	659	7655	0.00	2.55	28.10	1.015	9222	0.000	0.115	2815	3056	1940	2007	1874	0	0	0	0	0	0	28.83	14.24	13.77
7959	0.82	343.9	2814	3056	1983	1852	74.6	9.7	695	7988	0.12	2.47	18.08	0.375	10756	0.152	0.084	2877	1649	1787	1856	1719	0	0	0	0	0	0	14.40	14.34	14.18
8047	0.85	343.9	2878	1650	1879	1721	64.0	12.4	711	8056	0.00	2.53	2.72	0.214	9222	0.000	0.116	2877	3056	1781	1848	1715	0	0	0	0	0	0	28.83	14.36	14.29
8360	0.90	387.6	2878	3057	1878	1716	30.2	9.5	743	8395	0.00	1.38	25.83	0.253	8452	0.000	0.130	2877	3787	1608	1672	1544	0	0	0	0	0	0	28.83	14.38	14.33
8460	0.93	389.5	2878	3788	1689	1544	19.1	11.8	761	8468	0.00	1.27	3.08	0.210	9222	0.000	0.084	2881	3049	1596	1662	1531	0	0	0	0	0	0	28.83	14.45	14.33
8721	end climb: NO_VERTICAL_VELOCITY
state	8721	begin surface