Glider dive log

MIZ Jul14 * SG197 * Dive index * Mission links * Dive 366 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 197 ESCAPE_HEADING 180 C_ROLL_CLIMB 2180 ALTIM_FREQUENCY 13

MISSION 6 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 366 FIX_MISSING_TIMEOUT 2 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 31 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 657.89459 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_ABORT 800 N_FILEKB 8 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 2 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 9 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 2 N_NOCOMM 6 C_VBD 3182 DEVICE4 -1

D_SAFE 500 NOCOMM_ACTION 161 VBD_DBAND 2 DEVICE5 -1

D_CALL 4.5 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 5 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 540 LOGGERS 1

SURFACE_URGENCY_TRY 10 CALL_TRIES 3 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 20 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 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 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -13562.423 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 0.07 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044180104

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00064742006

T_WATCHDOG 10 PITCH_MIN 183 MINV_10V 11 SEABIRD_T_I 2.6339721e-05

RELAUNCH 1 PITCH_MAX 3878 FG_AHR_10V 0 SEABIRD_T_J 3.2479679e-06

APOGEE_PITCH -5 C_PITCH 2492 FG_AHR_24V 0 SEABIRD_C_G -9.7930565

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1220138

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -65.523643 SEABIRD_C_I -0.0013403301

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.000117962 SEABIRD_C_J 0.000180146

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54283 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 145 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 0.0099999998 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 20 TM_LOGSAMPLE 0.0

HD_A 0.0037 ROLL_MIN 200 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.013 ROLL_MAX 3713 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 3.1e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 1800 ALTIM_PING_DELTA 20

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 750 PITCH_GAIN 32 SURFACE_URGENCY_FORCE 20

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3878 SURFACE_URGENCY_TRY 10

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 20 FERRY_MAX 45 PITCH_MIN 183 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 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 2 PITCH_W_GAIN 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.000117962 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -65.523643 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0037 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.013 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 3.1e-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 215

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.07 RAFOS_PEAK_OFFSET 0 T_GPS 3

CAPUPLOAD 0 ID 197 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -13562.423

COMM_SEQ 0 INT_PRESSURE_YINT 0.69999999 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 0 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 2492 LOGGERDEVICE4 -1 ROLL_MAX 3713 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2180 LOGGERS 1 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 1800 MASS 54283 ROLL_MIN 200 UNCOM_BLEED 60

C_VBD 3182 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 21 USE_ICE 1

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 6 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 -9.7930565 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1220138 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0013403301 VBD_MIN 500

DIVE 366 N_FILEKB 8 SEABIRD_C_J 0.000180146 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 800 N_GPS -20 SEABIRD_T_G 0.0044180104 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00064742006 VBD_TIMEOUT 540

D_CALL 4.5 N_NOSURFACE 0 SEABIRD_T_I 2.6339721e-05 W_ADJ_DBAND 0

D_FINISH 9 PHONE_DEVICE 49 SEABIRD_T_J 3.2479679e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.0099999998 SM_CC 657.89459

D_PITCH 2 PITCH_AD_RATE 145 SPEED_FACTOR 1

D_SAFE 500 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 190914,135857,7326.378,-14410.796,10,2.5,30,30.3 SPEED_LIMITS 0.201,0.242

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7315.000,-14420.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 8.97 MHEAD_RNG_PITCHd_Wd 162.8,21638,-22.6,-11.628,-25.63,1932

_SM_ANGLEo -17.5 D_GRID 1000

GPS2 190914,135857,7326.378,-14410.796,10,2.5,30,30.3

Post-dive calculations and measurements:

FREEZE 3.29,-1.301,-1.416,2,2,0 _24V_AH 12.74,142.259

FINISH1 3.3,1.020858,369 _10V_AH 12.61,0.000

FINISH2 3.2 FG_AHR_24Vo 0.000

RAFOS_CLK 389852 FG_AHR_10Vo 0.000

RAFOS_FIX 7328.468750,-15035.317383,130914,121235,2,255,100.36 MEM 118448

IRIDIUM_FIX 7250.09,-14402.25,190914,060931 DATA_FILE_SIZE 26729,768

TT8_MAMPS 0.042693,0.042693 CAP_FILE_SIZE 124836,0

HUMID 48.77 CFSIZE 1047117824,983384064

INTERNAL_PRESSURE 8.61046 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.50 SOUNDSPEED 1447.3

XPDR_PINGS 0 GPS 190914,135857,7326.378,-14410.796,10,2.5,30,30.3

SC_FREEKB 3774176

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 309 22.10 nil 0 0 0.00

Roll_motor 52 103 68.91 nil 0 0 0.00

VBD_pump_during_apogee 557 1837 13039.44 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 12346 21 3371.94

Iridium_during_xfer 0 0 0.00 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 9293 2 270.72

TT8_Active 606 11 89.65

TT8_Sampling 1599 30 614.15

TT8_CF8 184 43 102.08

TT8_Kalman 0 0 0.00

Analog_circuits 1192 10 150.39

GPS_charging 0 0 0.00

Compass 1155 5 72.82

RAFOS 1480 48 895.81

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

19 -0.81 -145.9 2576 1806 1618 1765 0.0 0.0 0 32 0.00 0.00 -11.93 0.000 16386 0.000 0.000 2575 1805 2198 2129 2268 0 0 0 0 0 0 28.83 28.83 28.83

35 -0.81 -145.9 2576 1806 2131 2268 9.9 0.0 1 74 1.00 2.47 -31.60 0.000 20996 0.070 0.092 2220 389 3778 3762 3795 0 0 0 0 0 0 14.40 14.37 14.68

199 -0.75 -145.9 2221 388 3764 3799 56.6 -26.1 34 205 0.17 2.50 0.00 0.000 3078 0.310 0.081 2245 1800 3781 3764 3799 0 0 0 0 0 0 14.08 14.33 28.83

504 -0.75 -145.9 2245 1801 3764 3799 114.3 -15.7 65 509 0.00 2.55 0.00 0.000 260 0.000 0.100 2236 3218 3781 3764 3799 0 0 0 0 0 0 28.83 14.32 28.83

564 -0.74 -145.9 2237 3218 3762 3799 124.3 -16.4 77 569 0.00 2.42 0.00 0.000 1030 0.000 0.061 2236 1799 3781 3763 3799 0 0 0 0 0 0 28.83 14.45 28.83

874 -0.74 -145.9 2237 1799 3764 3799 174.0 -15.4 109 875 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 1798 3781 3763 3799 0 0 0 0 0 0 28.83 28.83 28.83

1174 -0.75 -145.9 2236 1799 3764 3800 217.1 -13.4 139 1175 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 1798 3781 3763 3799 0 0 0 0 0 0 28.83 28.83 28.83

1495 -0.78 -145.9 2237 1799 3764 3800 258.2 -12.1 167 1495 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 1798 3781 3763 3800 0 0 0 0 0 0 28.83 28.83 28.83

1794 -0.81 -145.9 2237 1799 3763 3800 290.9 -10.8 177 1799 0.00 2.55 0.00 0.000 260 0.000 0.103 2227 3219 3781 3763 3799 0 0 0 0 0 0 28.83 14.42 28.83

1864 -0.83 -145.9 2227 3220 3763 3800 299.0 -11.6 191 1869 0.00 2.42 0.00 0.000 1030 0.000 0.063 2227 1798 3781 3763 3799 0 0 0 0 0 0 28.83 14.51 28.83

2187 -0.86 -145.9 2228 1798 3762 3800 334.6 -10.9 205 2187 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 1798 3780 3762 3799 0 0 0 0 0 0 28.83 28.83 28.83

2485 -0.88 -145.9 2228 1797 3762 3800 367.0 -10.7 215 2490 0.00 2.55 0.00 0.000 260 0.000 0.102 2218 3215 3780 3762 3799 0 0 0 0 0 0 28.83 14.45 28.83

2550 -0.90 -145.9 2219 3216 3762 3800 374.4 -11.5 228 2555 0.00 2.42 0.00 0.000 1030 0.000 0.063 2218 1794 3780 3762 3799 0 0 0 0 0 0 28.83 14.52 28.83

2877 -0.93 -145.9 2219 1794 3764 3800 408.0 -10.1 243 2878 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 1793 3780 3762 3799 0 0 0 0 0 0 28.83 28.83 28.83

3176 -0.96 -145.9 2219 1793 3762 3800 437.9 -10.0 253 3181 0.12 2.55 0.00 0.000 4356 0.150 0.098 2153 3214 3780 3761 3799 0 0 0 0 0 0 14.60 14.44 28.83

3236 -0.92 -145.9 2157 3216 3762 3800 445.7 -13.3 265 3241 0.17 2.40 0.00 0.000 3078 0.281 0.063 2190 1801 3780 3761 3799 0 0 0 0 0 0 14.19 14.51 28.83

3566 -0.92 -145.9 2189 1801 3762 3800 484.4 -11.6 281 3567 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 1801 3780 3761 3799 0 0 0 0 0 0 28.83 28.83 28.83

3867 -0.92 -145.9 2189 1801 3762 3801 519.2 -11.6 291 3871 0.00 2.53 0.00 0.000 260 0.000 0.100 2181 3218 3780 3761 3800 0 0 0 0 0 0 28.83 14.45 28.83

3921 -0.92 -145.9 2180 3218 3761 3801 526.1 -12.6 302 3927 0.00 2.42 0.00 0.000 1030 0.000 0.063 2181 1794 3780 3761 3800 0 0 0 0 0 0 28.83 14.51 28.83

4227 -0.92 -145.9 2181 1794 3761 3801 562.4 -11.8 313 4227 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 1794 3781 3761 3801 0 0 0 0 0 0 28.83 28.83 28.83

4526 -0.92 -145.9 2181 1794 3762 3802 597.6 -11.7 323 4527 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 1794 3781 3761 3802 0 0 0 0 0 0 28.83 28.83 28.83

4826 -0.92 -145.9 2181 1794 3761 3802 632.9 -11.8 333 4827 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 1794 3781 3761 3802 0 0 0 0 0 0 28.83 28.83 28.83

5126 -0.92 -145.9 2181 1794 3762 3803 668.2 -11.6 343 5127 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 1794 3781 3761 3802 0 0 0 0 0 0 28.83 28.83 28.83

5427 -0.92 -145.9 2181 1796 3761 3803 703.0 -11.6 353 5427 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 1794 3782 3761 3803 0 0 0 0 0 0 28.83 28.83 28.83

5727 -0.92 -145.9 2181 1794 3761 3804 737.7 -11.5 363 5727 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 1794 3782 3761 3803 0 0 0 0 0 0 28.83 28.83 28.83

5844 end dive: TARGET_DEPTH_EXCEEDED

state 5844 begin apogee

5850 -0.16 0.0 2178 2186 3762 3804 751.5 -11.5 367 5978 0.98 0.00 124.97 1.838 10246 0.246 0.000 2433 2185 3183 3139 3227 0 0 0 0 0 0 14.22 28.83 13.20

5979 end apogee: CONTROL_FINISHED_OK

state 5979 begin climb

5981 0.81 145.9 2434 2186 3129 3223 754.3 0.0 371 6110 1.02 0.00 125.90 1.812 10502 0.133 0.000 2751 2186 2586 2507 2666 0 0 0 0 0 0 13.95 28.83 12.74

6387 0.79 145.9 2752 2186 2491 2655 706.2 13.9 390 6387 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2185 2572 2490 2654 0 0 0 0 0 0 28.83 28.83 28.83

6687 0.77 145.9 2751 2186 2491 2655 664.4 14.0 400 6688 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2186 2572 2491 2654 0 0 0 0 0 0 28.83 28.83 28.83

6987 0.75 145.9 2752 2186 2492 2654 622.5 13.9 410 6988 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2186 2571 2489 2654 0 0 0 0 0 0 28.83 28.83 28.83

7287 0.74 145.9 2751 2186 2490 2654 580.5 14.1 420 7287 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2186 2571 2490 2653 0 0 0 0 0 0 28.83 28.83 28.83

8303 0.86 344.2 2751 2186 2491 2654 541.0 1.1 430 8470 0.00 0.00 165.62 1.528 8198 0.000 0.000 2751 2186 1781 1687 1875 0 0 0 0 0 0 28.83 28.83 13.23

8751 0.88 344.2 2752 2187 1665 1855 465.5 17.6 445 8752 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2187 1756 1664 1849 0 0 0 0 0 0 28.83 28.83 28.83

9051 0.91 344.2 2752 2187 1663 1854 413.4 17.3 455 9052 0.10 0.00 0.00 0.000 2054 0.162 0.000 2796 2186 1758 1663 1853 0 0 0 0 0 0 14.53 28.83 28.83

9351 0.91 344.2 2798 2186 1663 1853 350.3 21.2 465 9352 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2186 1758 1663 1853 0 0 0 0 0 0 28.83 28.83 28.83

9651 0.91 344.2 2798 2187 1663 1853 289.2 20.1 475 9652 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2186 1758 1663 1853 0 0 0 0 0 0 28.83 28.83 28.83

9953 0.91 344.2 2798 2187 1663 1853 233.3 16.9 491 9954 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2186 1757 1662 1853 0 0 0 0 0 0 28.83 28.83 28.83

10251 0.93 344.2 2798 2186 1663 1855 183.9 15.4 521 10256 0.00 2.47 0.00 0.000 516 0.000 0.080 2809 764 1757 1662 1853 0 0 0 0 0 0 28.83 14.53 28.83

10282 0.94 344.2 2809 765 1663 1853 179.0 15.9 527 10286 0.00 2.47 0.00 0.000 1030 0.000 0.081 2808 2185 1757 1662 1852 0 0 0 0 0 0 28.83 14.52 28.83

10593 0.96 344.2 2808 2186 1663 1852 132.3 14.2 559 10594 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2185 1757 1662 1852 0 0 0 0 0 0 28.83 28.83 28.83

10892 0.99 344.2 2809 2186 1662 1853 91.4 13.3 589 10896 0.00 2.53 0.00 0.000 260 0.000 0.099 2808 3597 1757 1662 1852 0 0 0 0 0 0 28.83 14.39 28.83

10947 0.99 344.2 2809 3598 1663 1852 83.8 14.5 600 10953 0.00 2.42 0.00 0.000 1030 0.000 0.060 2812 2171 1756 1662 1851 0 0 0 0 0 0 28.83 14.43 28.83

11254 1.09 418.5 2812 2170 1663 1851 53.3 7.7 631 11287 0.00 0.00 31.77 0.330 8198 0.000 0.000 2813 2170 1475 1374 1576 0 0 0 0 0 0 28.83 28.83 14.12

11584 1.23 512.2 2813 2170 1387 1575 27.7 6.6 664 11634 0.22 2.55 44.05 0.253 10756 0.096 0.080 2915 763 1091 988 1195 0 0 0 0 0 0 14.40 14.36 14.18

11859 1.36 629.5 2915 763 993 1196 6.3 5.4 716 11917 0.00 2.50 52.22 0.194 9222 0.000 0.072 2913 2192 612 515 709 0 0 0 0 0 0 28.83 14.31 14.19

12215 1.67 844.1 2915 2192 515 710 3.2 0.2 755 12233 0.32 2.50 12.45 0.198 10756 0.102 0.074 3031 770 498 409 588 0 0 0 0 0 0 14.22 14.30 14.18

12276 end climb: NO_VERTICAL_VELOCITY

state 12276 begin subsurface finish

12285 0.26 369.4 3031 2172 412 589 3.3 0.1 767 12290 1.48 0.00 -2.80 0.000 20994 0.140 0.000 2579 2173 587 506 668 0 0 0 0 0 0 14.17 28.83 28.83

12291 end subsurface finish: NO_VERTICAL_VELOCITY

state 12291 begin surface

ID	197	ESCAPE_HEADING	180	C_ROLL_CLIMB	2180	ALTIM_FREQUENCY	13
MISSION	6	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	366	FIX_MISSING_TIMEOUT	2	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	31	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	657.89459	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_ABORT	800	N_FILEKB	8	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	2	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	9	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	2	N_NOCOMM	6	C_VBD	3182	DEVICE4	-1
D_SAFE	500	NOCOMM_ACTION	161	VBD_DBAND	2	DEVICE5	-1
D_CALL	4.5	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	5	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	540	LOGGERS	1
SURFACE_URGENCY_TRY	10	CALL_TRIES	3	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	20	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	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	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-13562.423	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	0.07	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044180104
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00064742006
T_WATCHDOG	10	PITCH_MIN	183	MINV_10V	11	SEABIRD_T_I	2.6339721e-05
RELAUNCH	1	PITCH_MAX	3878	FG_AHR_10V	0	SEABIRD_T_J	3.2479679e-06
APOGEE_PITCH	-5	C_PITCH	2492	FG_AHR_24V	0	SEABIRD_C_G	-9.7930565
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1220138
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-65.523643	SEABIRD_C_I	-0.0013403301
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.000117962	SEABIRD_C_J	0.000180146
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54283	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	145	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	0.0099999998	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	20	TM_LOGSAMPLE	0.0
HD_A	0.0037	ROLL_MIN	200	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.013	ROLL_MAX	3713	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	3.1e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	1800	ALTIM_PING_DELTA	20

GPS1	190914,135857,7326.378,-14410.796,10,2.5,30,30.3	SPEED_LIMITS	0.201,0.242
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7315.000,-14420.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	8.97	MHEAD_RNG_PITCHd_Wd	162.8,21638,-22.6,-11.628,-25.63,1932
_SM_ANGLEo	-17.5	D_GRID	1000
GPS2	190914,135857,7326.378,-14410.796,10,2.5,30,30.3

FREEZE	3.29,-1.301,-1.416,2,2,0	_24V_AH	12.74,142.259
FINISH1	3.3,1.020858,369	_10V_AH	12.61,0.000
FINISH2	3.2	FG_AHR_24Vo	0.000
RAFOS_CLK	389852	FG_AHR_10Vo	0.000
RAFOS_FIX	7328.468750,-15035.317383,130914,121235,2,255,100.36	MEM	118448
IRIDIUM_FIX	7250.09,-14402.25,190914,060931	DATA_FILE_SIZE	26729,768
TT8_MAMPS	0.042693,0.042693	CAP_FILE_SIZE	124836,0
HUMID	48.77	CFSIZE	1047117824,983384064
INTERNAL_PRESSURE	8.61046	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.50	SOUNDSPEED	1447.3
XPDR_PINGS	0	GPS	190914,135857,7326.378,-14410.796,10,2.5,30,30.3
SC_FREEKB	3774176

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	309	22.10	nil	0	0	0.00
Roll_motor	52	103	68.91	nil	0	0	0.00
VBD_pump_during_apogee	557	1837	13039.44	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	12346	21	3371.94
Iridium_during_xfer	0	0	0.00	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	9293	2	270.72
TT8_Active	606	11	89.65
TT8_Sampling	1599	30	614.15
TT8_CF8	184	43	102.08
TT8_Kalman	0	0	0.00
Analog_circuits	1192	10	150.39
GPS_charging	0	0	0.00
Compass	1155	5	72.82
RAFOS	1480	48	895.81
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
19	-0.81	-145.9	2576	1806	1618	1765	0.0	0.0	0	32	0.00	0.00	-11.93	0.000	16386	0.000	0.000	2575	1805	2198	2129	2268	0	0	0	0	0	0	28.83	28.83	28.83
35	-0.81	-145.9	2576	1806	2131	2268	9.9	0.0	1	74	1.00	2.47	-31.60	0.000	20996	0.070	0.092	2220	389	3778	3762	3795	0	0	0	0	0	0	14.40	14.37	14.68
199	-0.75	-145.9	2221	388	3764	3799	56.6	-26.1	34	205	0.17	2.50	0.00	0.000	3078	0.310	0.081	2245	1800	3781	3764	3799	0	0	0	0	0	0	14.08	14.33	28.83
504	-0.75	-145.9	2245	1801	3764	3799	114.3	-15.7	65	509	0.00	2.55	0.00	0.000	260	0.000	0.100	2236	3218	3781	3764	3799	0	0	0	0	0	0	28.83	14.32	28.83
564	-0.74	-145.9	2237	3218	3762	3799	124.3	-16.4	77	569	0.00	2.42	0.00	0.000	1030	0.000	0.061	2236	1799	3781	3763	3799	0	0	0	0	0	0	28.83	14.45	28.83
874	-0.74	-145.9	2237	1799	3764	3799	174.0	-15.4	109	875	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	1798	3781	3763	3799	0	0	0	0	0	0	28.83	28.83	28.83
1174	-0.75	-145.9	2236	1799	3764	3800	217.1	-13.4	139	1175	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	1798	3781	3763	3799	0	0	0	0	0	0	28.83	28.83	28.83
1495	-0.78	-145.9	2237	1799	3764	3800	258.2	-12.1	167	1495	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	1798	3781	3763	3800	0	0	0	0	0	0	28.83	28.83	28.83
1794	-0.81	-145.9	2237	1799	3763	3800	290.9	-10.8	177	1799	0.00	2.55	0.00	0.000	260	0.000	0.103	2227	3219	3781	3763	3799	0	0	0	0	0	0	28.83	14.42	28.83
1864	-0.83	-145.9	2227	3220	3763	3800	299.0	-11.6	191	1869	0.00	2.42	0.00	0.000	1030	0.000	0.063	2227	1798	3781	3763	3799	0	0	0	0	0	0	28.83	14.51	28.83
2187	-0.86	-145.9	2228	1798	3762	3800	334.6	-10.9	205	2187	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	1798	3780	3762	3799	0	0	0	0	0	0	28.83	28.83	28.83
2485	-0.88	-145.9	2228	1797	3762	3800	367.0	-10.7	215	2490	0.00	2.55	0.00	0.000	260	0.000	0.102	2218	3215	3780	3762	3799	0	0	0	0	0	0	28.83	14.45	28.83
2550	-0.90	-145.9	2219	3216	3762	3800	374.4	-11.5	228	2555	0.00	2.42	0.00	0.000	1030	0.000	0.063	2218	1794	3780	3762	3799	0	0	0	0	0	0	28.83	14.52	28.83
2877	-0.93	-145.9	2219	1794	3764	3800	408.0	-10.1	243	2878	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	1793	3780	3762	3799	0	0	0	0	0	0	28.83	28.83	28.83
3176	-0.96	-145.9	2219	1793	3762	3800	437.9	-10.0	253	3181	0.12	2.55	0.00	0.000	4356	0.150	0.098	2153	3214	3780	3761	3799	0	0	0	0	0	0	14.60	14.44	28.83
3236	-0.92	-145.9	2157	3216	3762	3800	445.7	-13.3	265	3241	0.17	2.40	0.00	0.000	3078	0.281	0.063	2190	1801	3780	3761	3799	0	0	0	0	0	0	14.19	14.51	28.83
3566	-0.92	-145.9	2189	1801	3762	3800	484.4	-11.6	281	3567	0.00	0.00	0.00	0.000	6	0.000	0.000	2189	1801	3780	3761	3799	0	0	0	0	0	0	28.83	28.83	28.83
3867	-0.92	-145.9	2189	1801	3762	3801	519.2	-11.6	291	3871	0.00	2.53	0.00	0.000	260	0.000	0.100	2181	3218	3780	3761	3800	0	0	0	0	0	0	28.83	14.45	28.83
3921	-0.92	-145.9	2180	3218	3761	3801	526.1	-12.6	302	3927	0.00	2.42	0.00	0.000	1030	0.000	0.063	2181	1794	3780	3761	3800	0	0	0	0	0	0	28.83	14.51	28.83
4227	-0.92	-145.9	2181	1794	3761	3801	562.4	-11.8	313	4227	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	1794	3781	3761	3801	0	0	0	0	0	0	28.83	28.83	28.83
4526	-0.92	-145.9	2181	1794	3762	3802	597.6	-11.7	323	4527	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	1794	3781	3761	3802	0	0	0	0	0	0	28.83	28.83	28.83
4826	-0.92	-145.9	2181	1794	3761	3802	632.9	-11.8	333	4827	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	1794	3781	3761	3802	0	0	0	0	0	0	28.83	28.83	28.83
5126	-0.92	-145.9	2181	1794	3762	3803	668.2	-11.6	343	5127	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	1794	3781	3761	3802	0	0	0	0	0	0	28.83	28.83	28.83
5427	-0.92	-145.9	2181	1796	3761	3803	703.0	-11.6	353	5427	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	1794	3782	3761	3803	0	0	0	0	0	0	28.83	28.83	28.83
5727	-0.92	-145.9	2181	1794	3761	3804	737.7	-11.5	363	5727	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	1794	3782	3761	3803	0	0	0	0	0	0	28.83	28.83	28.83
5844	end dive: TARGET_DEPTH_EXCEEDED
state	5844	begin apogee
5850	-0.16	0.0	2178	2186	3762	3804	751.5	-11.5	367	5978	0.98	0.00	124.97	1.838	10246	0.246	0.000	2433	2185	3183	3139	3227	0	0	0	0	0	0	14.22	28.83	13.20
5979	end apogee: CONTROL_FINISHED_OK
state	5979	begin climb
5981	0.81	145.9	2434	2186	3129	3223	754.3	0.0	371	6110	1.02	0.00	125.90	1.812	10502	0.133	0.000	2751	2186	2586	2507	2666	0	0	0	0	0	0	13.95	28.83	12.74
6387	0.79	145.9	2752	2186	2491	2655	706.2	13.9	390	6387	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2185	2572	2490	2654	0	0	0	0	0	0	28.83	28.83	28.83
6687	0.77	145.9	2751	2186	2491	2655	664.4	14.0	400	6688	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2186	2572	2491	2654	0	0	0	0	0	0	28.83	28.83	28.83
6987	0.75	145.9	2752	2186	2492	2654	622.5	13.9	410	6988	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2186	2571	2489	2654	0	0	0	0	0	0	28.83	28.83	28.83
7287	0.74	145.9	2751	2186	2490	2654	580.5	14.1	420	7287	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2186	2571	2490	2653	0	0	0	0	0	0	28.83	28.83	28.83
8303	0.86	344.2	2751	2186	2491	2654	541.0	1.1	430	8470	0.00	0.00	165.62	1.528	8198	0.000	0.000	2751	2186	1781	1687	1875	0	0	0	0	0	0	28.83	28.83	13.23
8751	0.88	344.2	2752	2187	1665	1855	465.5	17.6	445	8752	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2187	1756	1664	1849	0	0	0	0	0	0	28.83	28.83	28.83
9051	0.91	344.2	2752	2187	1663	1854	413.4	17.3	455	9052	0.10	0.00	0.00	0.000	2054	0.162	0.000	2796	2186	1758	1663	1853	0	0	0	0	0	0	14.53	28.83	28.83
9351	0.91	344.2	2798	2186	1663	1853	350.3	21.2	465	9352	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2186	1758	1663	1853	0	0	0	0	0	0	28.83	28.83	28.83
9651	0.91	344.2	2798	2187	1663	1853	289.2	20.1	475	9652	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2186	1758	1663	1853	0	0	0	0	0	0	28.83	28.83	28.83
9953	0.91	344.2	2798	2187	1663	1853	233.3	16.9	491	9954	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2186	1757	1662	1853	0	0	0	0	0	0	28.83	28.83	28.83
10251	0.93	344.2	2798	2186	1663	1855	183.9	15.4	521	10256	0.00	2.47	0.00	0.000	516	0.000	0.080	2809	764	1757	1662	1853	0	0	0	0	0	0	28.83	14.53	28.83
10282	0.94	344.2	2809	765	1663	1853	179.0	15.9	527	10286	0.00	2.47	0.00	0.000	1030	0.000	0.081	2808	2185	1757	1662	1852	0	0	0	0	0	0	28.83	14.52	28.83
10593	0.96	344.2	2808	2186	1663	1852	132.3	14.2	559	10594	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2185	1757	1662	1852	0	0	0	0	0	0	28.83	28.83	28.83
10892	0.99	344.2	2809	2186	1662	1853	91.4	13.3	589	10896	0.00	2.53	0.00	0.000	260	0.000	0.099	2808	3597	1757	1662	1852	0	0	0	0	0	0	28.83	14.39	28.83
10947	0.99	344.2	2809	3598	1663	1852	83.8	14.5	600	10953	0.00	2.42	0.00	0.000	1030	0.000	0.060	2812	2171	1756	1662	1851	0	0	0	0	0	0	28.83	14.43	28.83
11254	1.09	418.5	2812	2170	1663	1851	53.3	7.7	631	11287	0.00	0.00	31.77	0.330	8198	0.000	0.000	2813	2170	1475	1374	1576	0	0	0	0	0	0	28.83	28.83	14.12
11584	1.23	512.2	2813	2170	1387	1575	27.7	6.6	664	11634	0.22	2.55	44.05	0.253	10756	0.096	0.080	2915	763	1091	988	1195	0	0	0	0	0	0	14.40	14.36	14.18
11859	1.36	629.5	2915	763	993	1196	6.3	5.4	716	11917	0.00	2.50	52.22	0.194	9222	0.000	0.072	2913	2192	612	515	709	0	0	0	0	0	0	28.83	14.31	14.19
12215	1.67	844.1	2915	2192	515	710	3.2	0.2	755	12233	0.32	2.50	12.45	0.198	10756	0.102	0.074	3031	770	498	409	588	0	0	0	0	0	0	14.22	14.30	14.18
12276	end climb: NO_VERTICAL_VELOCITY
state	12276	begin subsurface finish
12285	0.26	369.4	3031	2172	412	589	3.3	0.1	767	12290	1.48	0.00	-2.80	0.000	20994	0.140	0.000	2579	2173	587	506	668	0	0	0	0	0	0	14.17	28.83	28.83
12291	end subsurface finish: NO_VERTICAL_VELOCITY
state	12291	begin surface