Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 85 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 ESCAPE_HEADING 180 C_ROLL_CLIMB 3050 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 85 FIX_MISSING_TIMEOUT 3 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 28 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 16 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 648.87579 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.44999999

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 1.75 N_NOCOMM 6 C_VBD 3186 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 3

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 -3419.9329 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 1 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.1 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 2590 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 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 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 2680 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 750 PITCH_GAIN 36 SURFACE_URGENCY_FORCE 20

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3894 SURFACE_URGENCY_TRY 10

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 7100

ALTIM_PING_DEPTH 0 FILEMGR 2 PITCH_W_DBAND 0 TGT_DEFAULT_LON -14430

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 3 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 215

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1 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 -3419.9329

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 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 2590 LOGGERDEVICE4 -1 ROLL_MAX 3790 T_TURN_SAMPINT -5

C_ROLL_CLIMB 3050 LOGGERS 3 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2680 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 28 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 16 USE_ICE 1

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 0 SEABIRD_C_G -9.8238754 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1280942 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0016420757 VBD_MIN 500

DIVE 85 N_FILEKB 8 SEABIRD_C_J 0.00020143802 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 800 N_GPS -20 SEABIRD_T_G 0.0043931045 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00063259818 VBD_TIMEOUT 720

D_CALL 3 N_NOSURFACE 0 SEABIRD_T_I 2.5708419e-05 W_ADJ_DBAND 0

D_FINISH 9 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 1.75 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 500 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 070814,184954,7153.190,-14416.843,33,0.8,53,22.6 SPEED_LIMITS 0.166,0.234

_CALLS 1 TGT_NAME 8

_XMS_NAKs 0 TGT_LATLONG 7212.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 2.16 MHEAD_RNG_PITCHd_Wd 343.8,34995,-21.4,-11.628,-26.45,1932

_SM_ANGLEo -72.8 D_GRID 1000

GPS2 070814,185712,7153.224,-14416.943,5,0.8,25,22.6

Post-dive calculations and measurements:

FREEZE 2.25,-1.011,-1.277,2,1,0 _24V_AH 13.01,29.278

FINISH1 2.2,1.018839,475 _10V_AH 12.90,0.000

FINISH2 2.1 FG_AHR_24Vo 0.000

RAFOS_CLK 614 FG_AHR_10Vo 0.000

RAFOS_FIX 7144.370605,-14415.987305,070814,000032,2,255,0.21 MEM 313040

IRIDIUM_FIX 7118.99,-14423.73,070814,144829 DATA_FILE_SIZE 23381,710

TT8_MAMPS 0.043442,0.043442 CAP_FILE_SIZE 198800,0

HUMID 48.42 CFSIZE 2097872896,2071691264

INTERNAL_PRESSURE 8.54449 ERRORS 0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.00 INTR 2,14138.76,0x2378b6,5,5

XPDR_PINGS 0 SOUNDSPEED 1448.9

SC_FREEKB 3983328 GPS 070814,185712,7153.224,-14416.943,5,0.8,25,22.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 452 87.94 nil 0 0 0.00

Roll_motor 37 153 75.97 nil 0 0 0.00

VBD_pump_during_apogee 562 1747 12791.21 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 14203 12 2379.43

Iridium_during_xfer 247 175 565.06 TMICL 0 -9223372036854775808 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 0 0.26

TT8 0 0 0.00

LPSleep 6496 2 193.58

TT8_Active 420 8 47.37

TT8_Sampling 7551 28 2746.98

TT8_CF8 137 35 63.51

TT8_Kalman 0 0 0.00

Analog_circuits 3040 10 392.20

GPS_charging 0 0 0.00

Compass 1060 0 10.26

RAFOS 1479 48 915.80

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

27 -0.70 -145.9 197 2677 456 532 0.0 0.0 0 103 0.00 0.00 -47.55 0.000 16386 0.000 0.000 197 2677 1659 1682 1637 0 0 0 0 0 0 28.83 28.83 28.83

104 -0.70 -145.9 197 2677 1686 1638 3.1 -2.6 6 194 10.95 2.10 -47.50 0.000 18692 0.452 0.154 2346 3789 3783 3909 3657 0 0 0 0 0 0 14.16 14.35 14.59

418 -0.62 -145.9 2346 3789 3914 3657 75.0 -22.3 64 448 0.17 1.88 0.00 0.000 3078 0.327 0.079 2383 2674 3785 3913 3657 0 0 0 0 0 0 14.33 14.49 28.83

752 -0.62 -145.9 2383 2674 3915 3657 129.5 -15.2 96 781 0.00 2.00 0.00 0.000 260 0.000 0.128 2372 3787 3785 3913 3657 0 0 0 0 0 0 28.83 14.49 28.83

910 -0.62 -145.9 2375 3788 3915 3657 154.9 -15.2 123 939 0.00 1.88 0.00 0.000 1030 0.000 0.080 2375 2675 3786 3916 3657 0 0 0 0 0 0 28.83 14.49 28.83

1234 -0.62 -145.9 2376 2675 3914 3658 198.7 -12.4 154 1262 0.00 0.00 0.00 0.000 6 0.000 0.000 2375 2675 3782 3908 3657 0 0 0 0 0 0 28.83 28.83 28.83

1557 -0.62 -145.9 2376 2675 3915 3657 234.9 -10.8 185 1585 0.00 2.03 0.00 0.000 260 0.000 0.132 2374 3791 3785 3914 3656 0 0 0 0 0 0 28.83 14.54 28.83

1664 -0.62 -145.9 2374 3788 3914 3657 247.1 -11.2 202 1694 0.00 1.88 0.00 0.000 1030 0.000 0.081 2374 2673 3785 3913 3657 0 0 0 0 0 0 28.83 14.59 28.83

1998 -0.64 -145.9 2375 2674 3914 3658 281.8 -10.2 214 2027 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2678 3785 3913 3657 0 0 0 0 0 0 28.83 28.83 28.83

2302 -0.67 -145.9 2381 2674 3914 3658 311.9 -9.8 224 2330 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2673 3786 3913 3660 0 0 0 0 0 0 28.83 28.83 28.83

2605 -0.70 -145.9 2375 2675 3914 3658 341.8 -9.7 234 2634 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2673 3785 3913 3657 0 0 0 0 0 0 28.83 28.83 28.83

2909 -0.73 -145.9 2374 2674 3914 3658 370.9 -9.5 244 2938 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2673 3785 3913 3657 0 0 0 0 0 0 28.83 28.83 28.83

3213 -0.76 -145.9 2375 2673 3914 3657 399.7 -9.4 254 3242 0.00 2.00 0.00 0.000 260 0.000 0.132 2374 3792 3785 3913 3657 0 0 0 0 0 0 28.83 14.64 28.83

3286 -0.79 -145.9 2375 3792 3914 3657 407.1 -10.2 264 3315 0.12 1.88 0.00 0.000 5126 0.150 0.080 2323 2666 3785 3913 3657 0 0 0 0 0 0 14.69 14.69 28.83

3619 -0.79 -145.9 2323 2666 3914 3657 446.5 -11.9 276 3647 0.00 0.00 0.00 0.000 6 0.000 0.000 2322 2666 3785 3913 3657 0 0 0 0 0 0 28.83 28.83 28.83

3922 -0.79 -145.9 2323 2667 3914 3657 481.9 -11.6 286 3950 0.00 0.00 0.00 0.000 6 0.000 0.000 2323 2666 3784 3912 3657 0 0 0 0 0 0 28.83 28.83 28.83

4225 -0.79 -145.9 2322 2667 3914 3658 516.7 -11.4 296 4254 0.00 0.00 0.00 0.000 6 0.000 0.000 2322 2671 3784 3913 3656 0 0 0 0 0 0 28.83 28.83 28.83

4528 -0.79 -145.9 2324 2667 3914 3657 551.2 -11.3 306 4557 0.00 0.00 0.00 0.000 6 0.000 0.000 2323 2666 3785 3913 3657 0 0 0 0 0 0 28.83 28.83 28.83

4832 -0.79 -145.9 2323 2666 3914 3658 585.8 -11.4 316 4861 0.00 2.00 0.00 0.000 260 0.000 0.126 2316 3789 3784 3913 3656 0 0 0 0 0 0 28.83 14.54 28.83

4900 -0.76 -145.9 2315 3794 3914 3658 594.2 -12.4 325 4929 0.12 1.85 0.00 0.000 3078 0.306 0.078 2339 2680 3785 3913 3657 0 0 0 0 0 0 14.43 14.57 28.83

5240 -0.76 -145.9 2339 2680 3915 3658 629.8 -10.3 338 5268 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2679 3785 3913 3657 0 0 0 0 0 0 28.83 28.83 28.83

5543 -0.76 -145.9 2340 2679 3914 3657 661.2 -10.3 348 5572 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2679 3785 3913 3657 0 0 0 0 0 0 28.83 28.83 28.83

5847 -0.76 -145.9 2340 2680 3914 3658 692.3 -10.3 358 5876 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2676 3785 3913 3657 0 0 0 0 0 0 28.83 28.83 28.83

6151 -0.76 -145.9 2340 2679 3919 3657 723.5 -10.2 368 6179 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2679 3788 3913 3664 0 0 0 0 0 0 28.83 28.83 28.83

6422 end dive: TARGET_DEPTH_EXCEEDED

state 6422 begin apogee

6426 -0.14 0.0 2338 3062 3914 3658 751.5 -10.2 377 6579 0.75 0.00 127.55 1.747 10246 0.269 0.000 2537 3062 3186 3284 3088 0 0 0 0 0 0 14.57 28.83 13.26

6580 end apogee: CONTROL_FINISHED_OK

state 6580 begin climb

6582 0.70 145.9 2537 3062 3273 3080 755.7 0.0 381 6753 0.93 0.00 124.57 1.729 10246 0.187 0.000 2804 3061 2576 2640 2512 0 0 0 0 0 0 13.94 28.83 13.01

7039 0.70 145.9 2805 3062 2637 2508 707.1 13.0 397 7087 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 3062 2571 2636 2507 0 0 0 0 0 0 28.83 28.83 28.83

7373 0.70 145.9 2803 3062 2637 2505 663.9 12.8 408 7422 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 3062 2571 2636 2506 0 0 0 0 0 0 28.83 28.83 28.83

7708 0.70 145.9 2805 3062 2637 2507 621.0 12.9 419 7757 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 3062 2571 2636 2506 0 0 0 0 0 0 28.83 28.83 28.83

8042 0.70 145.9 2805 3062 2637 2506 577.5 13.1 430 8091 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 3062 2570 2636 2505 0 0 0 0 0 0 28.83 28.83 28.83

8377 0.70 145.9 2805 3063 2636 2506 534.3 12.6 441 8426 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 3062 2570 2636 2505 0 0 0 0 0 0 28.83 28.83 28.83

8712 0.70 145.9 2805 3062 2637 2505 491.4 12.9 452 8761 0.00 1.33 0.00 0.000 260 0.000 0.125 2804 3787 2570 2636 2505 0 0 0 0 0 0 28.83 14.57 28.83

8830 0.66 145.9 2805 3787 2637 2505 475.6 14.2 457 8879 0.00 1.25 0.00 0.000 1030 0.000 0.082 2809 3059 2570 2636 2505 0 0 0 0 0 0 28.83 14.62 28.83

9165 0.64 145.9 2810 3059 2637 2500 430.6 13.2 468 9213 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 3059 2570 2636 2505 0 0 0 0 0 0 28.83 28.83 28.83

9499 0.62 145.9 2810 3059 2637 2505 387.0 13.0 479 9548 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 3058 2570 2636 2504 0 0 0 0 0 0 28.83 28.83 28.83

9834 0.62 145.9 2810 3058 2637 2505 342.7 13.3 490 9882 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 3058 2570 2636 2505 0 0 0 0 0 0 28.83 28.83 28.83

10168 0.62 145.9 2809 3058 2637 2505 298.8 12.9 501 10217 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 3057 2570 2636 2504 0 0 0 0 0 0 28.83 28.83 28.83

10503 0.62 145.9 2810 3059 2637 2506 257.9 11.9 512 10552 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 3058 2570 2636 2505 0 0 0 0 0 0 28.83 28.83 28.83

10999 0.64 176.6 2810 3059 2637 2506 204.6 10.0 539 11066 0.00 1.35 24.92 1.115 8452 0.000 0.121 2809 3784 2452 2520 2385 0 0 0 0 0 0 28.83 14.40 13.96

11386 0.66 200.9 2810 3785 2515 2383 163.4 10.3 560 11452 0.00 1.27 20.48 1.069 9222 0.000 0.081 2814 3047 2353 2419 2288 0 0 0 0 0 0 28.83 14.52 13.93

11976 0.70 261.6 2815 3047 2413 2283 110.6 8.4 593 12076 0.00 2.45 52.28 1.004 8708 0.000 0.084 2820 1638 2105 2166 2044 0 0 0 0 0 0 28.83 14.24 13.81

12145 0.80 326.7 2821 1637 2161 2041 96.6 8.2 601 12211 0.00 2.53 31.67 0.449 9222 0.000 0.112 2820 3048 1853 1911 1796 0 0 0 0 0 0 28.83 14.28 14.05

12717 0.94 431.5 2821 3048 1938 1796 47.4 6.1 633 12818 0.20 2.47 58.38 0.306 10756 0.122 0.083 2915 1644 1431 1489 1374 0 0 0 0 0 0 14.45 14.35 14.19

12987 0.99 446.2 2916 1644 1497 1383 19.9 10.8 647 13036 0.00 2.50 9.62 0.228 9222 0.000 0.113 2915 3046 1367 1424 1310 0 0 0 0 0 0 28.83 14.40 14.31

13559 1.23 638.6 2916 3047 1438 1311 5.3 1.4 679 13699 0.20 1.38 101.70 0.190 10500 0.129 0.128 2990 3784 579 544 614 0 0 0 0 0 0 14.50 14.35 14.31

13868 1.53 852.9 2990 3784 550 615 2.5 0.2 695 13917 0.22 1.27 11.52 0.190 11270 0.072 0.083 3091 3048 499 468 530 0 0 0 0 0 0 14.47 14.47 14.35

14137 end climb: NO_VERTICAL_VELOCITY

state 14137 begin subsurface finish

14140 0.33 475.0 3091 3049 478 531 2.2 0.0 709 14173 1.27 0.00 -5.20 0.000 20994 0.173 0.000 2702 3048 643 649 638 0 0 0 0 0 0 14.42 28.83 28.83

14173 end subsurface finish: NO_VERTICAL_VELOCITY

state 14173 begin surface

ID	198	ESCAPE_HEADING	180	C_ROLL_CLIMB	3050	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	85	FIX_MISSING_TIMEOUT	3	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	28	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	16	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	648.87579	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.44999999
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	1.75	N_NOCOMM	6	C_VBD	3186	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	3
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	-3419.9329	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	1	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.1	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	2590	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	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	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	2680	ALTIM_PING_DELTA	5

GPS1	070814,184954,7153.190,-14416.843,33,0.8,53,22.6	SPEED_LIMITS	0.166,0.234
_CALLS	1	TGT_NAME	8
_XMS_NAKs	0	TGT_LATLONG	7212.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	2.16	MHEAD_RNG_PITCHd_Wd	343.8,34995,-21.4,-11.628,-26.45,1932
_SM_ANGLEo	-72.8	D_GRID	1000
GPS2	070814,185712,7153.224,-14416.943,5,0.8,25,22.6

FREEZE	2.25,-1.011,-1.277,2,1,0	_24V_AH	13.01,29.278
FINISH1	2.2,1.018839,475	_10V_AH	12.90,0.000
FINISH2	2.1	FG_AHR_24Vo	0.000
RAFOS_CLK	614	FG_AHR_10Vo	0.000
RAFOS_FIX	7144.370605,-14415.987305,070814,000032,2,255,0.21	MEM	313040
IRIDIUM_FIX	7118.99,-14423.73,070814,144829	DATA_FILE_SIZE	23381,710
TT8_MAMPS	0.043442,0.043442	CAP_FILE_SIZE	198800,0
HUMID	48.42	CFSIZE	2097872896,2071691264
INTERNAL_PRESSURE	8.54449	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.00	INTR	2,14138.76,0x2378b6,5,5
XPDR_PINGS	0	SOUNDSPEED	1448.9
SC_FREEKB	3983328	GPS	070814,185712,7153.224,-14416.943,5,0.8,25,22.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	452	87.94	nil	0	0	0.00
Roll_motor	37	153	75.97	nil	0	0	0.00
VBD_pump_during_apogee	562	1747	12791.21	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	14203	12	2379.43
Iridium_during_xfer	247	175	565.06	TMICL	0	-9223372036854775808	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	0	0.26
TT8	0	0	0.00
LPSleep	6496	2	193.58
TT8_Active	420	8	47.37
TT8_Sampling	7551	28	2746.98
TT8_CF8	137	35	63.51
TT8_Kalman	0	0	0.00
Analog_circuits	3040	10	392.20
GPS_charging	0	0	0.00
Compass	1060	0	10.26
RAFOS	1479	48	915.80
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
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
27	-0.70	-145.9	197	2677	456	532	0.0	0.0	0	103	0.00	0.00	-47.55	0.000	16386	0.000	0.000	197	2677	1659	1682	1637	0	0	0	0	0	0	28.83	28.83	28.83
104	-0.70	-145.9	197	2677	1686	1638	3.1	-2.6	6	194	10.95	2.10	-47.50	0.000	18692	0.452	0.154	2346	3789	3783	3909	3657	0	0	0	0	0	0	14.16	14.35	14.59
418	-0.62	-145.9	2346	3789	3914	3657	75.0	-22.3	64	448	0.17	1.88	0.00	0.000	3078	0.327	0.079	2383	2674	3785	3913	3657	0	0	0	0	0	0	14.33	14.49	28.83
752	-0.62	-145.9	2383	2674	3915	3657	129.5	-15.2	96	781	0.00	2.00	0.00	0.000	260	0.000	0.128	2372	3787	3785	3913	3657	0	0	0	0	0	0	28.83	14.49	28.83
910	-0.62	-145.9	2375	3788	3915	3657	154.9	-15.2	123	939	0.00	1.88	0.00	0.000	1030	0.000	0.080	2375	2675	3786	3916	3657	0	0	0	0	0	0	28.83	14.49	28.83
1234	-0.62	-145.9	2376	2675	3914	3658	198.7	-12.4	154	1262	0.00	0.00	0.00	0.000	6	0.000	0.000	2375	2675	3782	3908	3657	0	0	0	0	0	0	28.83	28.83	28.83
1557	-0.62	-145.9	2376	2675	3915	3657	234.9	-10.8	185	1585	0.00	2.03	0.00	0.000	260	0.000	0.132	2374	3791	3785	3914	3656	0	0	0	0	0	0	28.83	14.54	28.83
1664	-0.62	-145.9	2374	3788	3914	3657	247.1	-11.2	202	1694	0.00	1.88	0.00	0.000	1030	0.000	0.081	2374	2673	3785	3913	3657	0	0	0	0	0	0	28.83	14.59	28.83
1998	-0.64	-145.9	2375	2674	3914	3658	281.8	-10.2	214	2027	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2678	3785	3913	3657	0	0	0	0	0	0	28.83	28.83	28.83
2302	-0.67	-145.9	2381	2674	3914	3658	311.9	-9.8	224	2330	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2673	3786	3913	3660	0	0	0	0	0	0	28.83	28.83	28.83
2605	-0.70	-145.9	2375	2675	3914	3658	341.8	-9.7	234	2634	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2673	3785	3913	3657	0	0	0	0	0	0	28.83	28.83	28.83
2909	-0.73	-145.9	2374	2674	3914	3658	370.9	-9.5	244	2938	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2673	3785	3913	3657	0	0	0	0	0	0	28.83	28.83	28.83
3213	-0.76	-145.9	2375	2673	3914	3657	399.7	-9.4	254	3242	0.00	2.00	0.00	0.000	260	0.000	0.132	2374	3792	3785	3913	3657	0	0	0	0	0	0	28.83	14.64	28.83
3286	-0.79	-145.9	2375	3792	3914	3657	407.1	-10.2	264	3315	0.12	1.88	0.00	0.000	5126	0.150	0.080	2323	2666	3785	3913	3657	0	0	0	0	0	0	14.69	14.69	28.83
3619	-0.79	-145.9	2323	2666	3914	3657	446.5	-11.9	276	3647	0.00	0.00	0.00	0.000	6	0.000	0.000	2322	2666	3785	3913	3657	0	0	0	0	0	0	28.83	28.83	28.83
3922	-0.79	-145.9	2323	2667	3914	3657	481.9	-11.6	286	3950	0.00	0.00	0.00	0.000	6	0.000	0.000	2323	2666	3784	3912	3657	0	0	0	0	0	0	28.83	28.83	28.83
4225	-0.79	-145.9	2322	2667	3914	3658	516.7	-11.4	296	4254	0.00	0.00	0.00	0.000	6	0.000	0.000	2322	2671	3784	3913	3656	0	0	0	0	0	0	28.83	28.83	28.83
4528	-0.79	-145.9	2324	2667	3914	3657	551.2	-11.3	306	4557	0.00	0.00	0.00	0.000	6	0.000	0.000	2323	2666	3785	3913	3657	0	0	0	0	0	0	28.83	28.83	28.83
4832	-0.79	-145.9	2323	2666	3914	3658	585.8	-11.4	316	4861	0.00	2.00	0.00	0.000	260	0.000	0.126	2316	3789	3784	3913	3656	0	0	0	0	0	0	28.83	14.54	28.83
4900	-0.76	-145.9	2315	3794	3914	3658	594.2	-12.4	325	4929	0.12	1.85	0.00	0.000	3078	0.306	0.078	2339	2680	3785	3913	3657	0	0	0	0	0	0	14.43	14.57	28.83
5240	-0.76	-145.9	2339	2680	3915	3658	629.8	-10.3	338	5268	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2679	3785	3913	3657	0	0	0	0	0	0	28.83	28.83	28.83
5543	-0.76	-145.9	2340	2679	3914	3657	661.2	-10.3	348	5572	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2679	3785	3913	3657	0	0	0	0	0	0	28.83	28.83	28.83
5847	-0.76	-145.9	2340	2680	3914	3658	692.3	-10.3	358	5876	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2676	3785	3913	3657	0	0	0	0	0	0	28.83	28.83	28.83
6151	-0.76	-145.9	2340	2679	3919	3657	723.5	-10.2	368	6179	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2679	3788	3913	3664	0	0	0	0	0	0	28.83	28.83	28.83
6422	end dive: TARGET_DEPTH_EXCEEDED
state	6422	begin apogee
6426	-0.14	0.0	2338	3062	3914	3658	751.5	-10.2	377	6579	0.75	0.00	127.55	1.747	10246	0.269	0.000	2537	3062	3186	3284	3088	0	0	0	0	0	0	14.57	28.83	13.26
6580	end apogee: CONTROL_FINISHED_OK
state	6580	begin climb
6582	0.70	145.9	2537	3062	3273	3080	755.7	0.0	381	6753	0.93	0.00	124.57	1.729	10246	0.187	0.000	2804	3061	2576	2640	2512	0	0	0	0	0	0	13.94	28.83	13.01
7039	0.70	145.9	2805	3062	2637	2508	707.1	13.0	397	7087	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	3062	2571	2636	2507	0	0	0	0	0	0	28.83	28.83	28.83
7373	0.70	145.9	2803	3062	2637	2505	663.9	12.8	408	7422	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	3062	2571	2636	2506	0	0	0	0	0	0	28.83	28.83	28.83
7708	0.70	145.9	2805	3062	2637	2507	621.0	12.9	419	7757	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	3062	2571	2636	2506	0	0	0	0	0	0	28.83	28.83	28.83
8042	0.70	145.9	2805	3062	2637	2506	577.5	13.1	430	8091	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	3062	2570	2636	2505	0	0	0	0	0	0	28.83	28.83	28.83
8377	0.70	145.9	2805	3063	2636	2506	534.3	12.6	441	8426	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	3062	2570	2636	2505	0	0	0	0	0	0	28.83	28.83	28.83
8712	0.70	145.9	2805	3062	2637	2505	491.4	12.9	452	8761	0.00	1.33	0.00	0.000	260	0.000	0.125	2804	3787	2570	2636	2505	0	0	0	0	0	0	28.83	14.57	28.83
8830	0.66	145.9	2805	3787	2637	2505	475.6	14.2	457	8879	0.00	1.25	0.00	0.000	1030	0.000	0.082	2809	3059	2570	2636	2505	0	0	0	0	0	0	28.83	14.62	28.83
9165	0.64	145.9	2810	3059	2637	2500	430.6	13.2	468	9213	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	3059	2570	2636	2505	0	0	0	0	0	0	28.83	28.83	28.83
9499	0.62	145.9	2810	3059	2637	2505	387.0	13.0	479	9548	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	3058	2570	2636	2504	0	0	0	0	0	0	28.83	28.83	28.83
9834	0.62	145.9	2810	3058	2637	2505	342.7	13.3	490	9882	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	3058	2570	2636	2505	0	0	0	0	0	0	28.83	28.83	28.83
10168	0.62	145.9	2809	3058	2637	2505	298.8	12.9	501	10217	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	3057	2570	2636	2504	0	0	0	0	0	0	28.83	28.83	28.83
10503	0.62	145.9	2810	3059	2637	2506	257.9	11.9	512	10552	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	3058	2570	2636	2505	0	0	0	0	0	0	28.83	28.83	28.83
10999	0.64	176.6	2810	3059	2637	2506	204.6	10.0	539	11066	0.00	1.35	24.92	1.115	8452	0.000	0.121	2809	3784	2452	2520	2385	0	0	0	0	0	0	28.83	14.40	13.96
11386	0.66	200.9	2810	3785	2515	2383	163.4	10.3	560	11452	0.00	1.27	20.48	1.069	9222	0.000	0.081	2814	3047	2353	2419	2288	0	0	0	0	0	0	28.83	14.52	13.93
11976	0.70	261.6	2815	3047	2413	2283	110.6	8.4	593	12076	0.00	2.45	52.28	1.004	8708	0.000	0.084	2820	1638	2105	2166	2044	0	0	0	0	0	0	28.83	14.24	13.81
12145	0.80	326.7	2821	1637	2161	2041	96.6	8.2	601	12211	0.00	2.53	31.67	0.449	9222	0.000	0.112	2820	3048	1853	1911	1796	0	0	0	0	0	0	28.83	14.28	14.05
12717	0.94	431.5	2821	3048	1938	1796	47.4	6.1	633	12818	0.20	2.47	58.38	0.306	10756	0.122	0.083	2915	1644	1431	1489	1374	0	0	0	0	0	0	14.45	14.35	14.19
12987	0.99	446.2	2916	1644	1497	1383	19.9	10.8	647	13036	0.00	2.50	9.62	0.228	9222	0.000	0.113	2915	3046	1367	1424	1310	0	0	0	0	0	0	28.83	14.40	14.31
13559	1.23	638.6	2916	3047	1438	1311	5.3	1.4	679	13699	0.20	1.38	101.70	0.190	10500	0.129	0.128	2990	3784	579	544	614	0	0	0	0	0	0	14.50	14.35	14.31
13868	1.53	852.9	2990	3784	550	615	2.5	0.2	695	13917	0.22	1.27	11.52	0.190	11270	0.072	0.083	3091	3048	499	468	530	0	0	0	0	0	0	14.47	14.47	14.35
14137	end climb: NO_VERTICAL_VELOCITY
state	14137	begin subsurface finish
14140	0.33	475.0	3091	3049	478	531	2.2	0.0	709	14173	1.27	0.00	-5.20	0.000	20994	0.173	0.000	2702	3048	643	649	638	0	0	0	0	0	0	14.42	28.83	28.83
14173	end subsurface finish: NO_VERTICAL_VELOCITY
state	14173	begin surface