Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 0 C_ROLL_CLIMB 2840 ALTIM_FREQUENCY 13

MISSION 7 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 17 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 28 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 681.01007 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.75

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 3317 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 -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 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 20 COMPASS_DEVICE 97

T_TURN 225 T_GPS 5 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 -4695.4526 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 1.5 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044209026

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00065043929

T_WATCHDOG 10 PITCH_MIN 208 MINV_10V 11 SEABIRD_T_I 2.5803243e-05

RELAUNCH 1 PITCH_MAX 3896 FG_AHR_10V 0 SEABIRD_T_J 3.1106315e-06

APOGEE_PITCH -5 C_PITCH 2909 FG_AHR_24V 0 SEABIRD_C_G -9.7475271

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1204907

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -73.350418 SEABIRD_C_I -0.00083350006

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001164176 SEABIRD_C_J 0.00013962483

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 38 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54281 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 160 COMPASS_USE 4 TM_RECORDABOVE 2000.0

NAV_MODE 10 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 10 TM_LOGSAMPLE 0.0

HD_A 0.0043000001 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3787 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 4.3e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 400

HEADING -1 C_ROLL_DIVE 2700 ALTIM_PING_DELTA 20

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 500 PITCH_GAIN 38 SURFACE_URGENCY_FORCE 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3896 SURFACE_URGENCY_TRY 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 10 FERRY_MAX 45 PITCH_MIN 208 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 20 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 TGT_DEFAULT_LAT 4736

ALTIM_PING_DEPTH 400 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 30 PRESSURE_SLOPE 0.0001164176 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -73.350418 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0043000001 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 4.3e-06 P_OVSHOOT_WITHG 0 T_ABORT 1440

CALL_NDIVES 1 HEADING -1 RAFOS_CORR_THRESH 60 T_BOOST 4

CALL_TRIES 5 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 1.5 T_GPS 5

CAPUPLOAD 0 ID 196 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -4695.4526

COMM_SEQ 0 INT_PRESSURE_YINT 0.75 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 2909 LOGGERDEVICE4 -1 ROLL_MAX 3787 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2840 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2700 MASS 54281 ROLL_MIN 218 UNCOM_BLEED 20

C_VBD 3317 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 28 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 18 USE_ICE 0

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 7 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 10 SEABIRD_C_G -9.7475271 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1204907 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.00083350006 VBD_MIN 500

DIVE 17 N_FILEKB 8 SEABIRD_C_J 0.00013962483 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 N_GPS -20 SEABIRD_T_G 0.0044209026 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00065043929 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.5803243e-05 W_ADJ_DBAND 0

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.1106315e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 2 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.02 SM_CC 681.01007

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 280714,234912,7054.647,-14428.410,36,0.8,56,22.3 SPEED_LIMITS 0.206,0.254

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.24 MHEAD_RNG_PITCHd_Wd 338.1,77528,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -79.2 D_GRID 1000

GPS2 280714,235909,7054.542,-14428.384,4,0.8,24,22.3

Post-dive calculations and measurements:

FINISH 0.1,1.019165 _10V_AH 13.26,0.000

SM_CCo 8436,25.10,0.205,0,0,539,681.20 FG_AHR_24Vo 0.000

SM_GC 0.92,9.38,0.20,25.10,0.090,0.105,0.205,209,2702,539,-8.39,1.39,681.20,0,0,0,0,0,0,14.38,14.40,14.26 FG_AHR_10Vo 0.000

RAFOS_CLK 393 MEM 307612

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23385,718

IRIDIUM_FIX 7019.90,-14420.10,280714,214050 CAP_FILE_SIZE 123322,0

TT8_MAMPS 0.04494,0.04494 CFSIZE 2097872896,2088960000

HUMID 47.87 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.61163 INTR 0,7770.19,0x2378b6,7,5

TCM_TEMP 12.80 SOUNDSPEED 1449.2

XPDR_PINGS 6 EKF 8551,4255.695801,-8668.131836,0.126012,0.000598,-0.001144,0.014822,0.000152,0.001419,0.000099,0.001025,0.001025,0.000050

SC_FREEKB 3930528 CURRENT 0.084,167.13,1

TM_FREEKB 7744640 GPS 290714,022154,7055.318,-14427.868,36,0.7,56,22.3

_24V_AH 13.05,6.843

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 406 130.80 nil 0 0 0.00

Roll_motor 57 122 91.09 nil 0 0 0.00

VBD_pump_during_apogee 538 1699 11947.09 nil 0 0 0.00

VBD_pump_during_surface 25 205 67.16 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 8434 15 1738.24

Iridium_during_xfer 386 177 895.35 TMICL 8475 13 1470.63

Transponder_ping 3 420 16.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.26

TT8 0 0 0.00

LPSleep 6167 2 188.91

TT8_Active 672 9 84.50

TT8_Sampling 2147 28 824.27

TT8_CF8 70 35 33.48

TT8_Kalman 0 0 0.00

Analog_circuits 1748 10 231.90

GPS_charging 0 0 0.00

Compass 1069 0 10.64

RAFOS 1435 48 913.35

Transponder 13 30 5.23

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

17 -0.70 -145.9 198 2699 492 567 0.0 0.0 0 89 0.00 0.00 -69.00 0.000 16386 0.000 0.000 203 2699 2313 2320 2307 0 0 0 0 0 0 28.83 28.83 28.83

91 -0.70 -145.9 196 2699 2321 2307 4.5 -7.0 7 138 12.27 0.00 -27.67 0.000 19206 0.406 0.000 2672 2696 3913 3974 3853 0 0 0 0 0 0 14.04 28.83 14.42

433 -0.61 -145.9 2673 2698 3975 3858 84.1 -20.1 44 442 0.15 1.95 0.00 0.000 2308 0.305 0.106 2701 3790 3916 3975 3857 0 0 0 0 0 0 14.16 14.28 28.83

556 -0.57 -145.9 2701 3789 3976 3857 107.2 -18.1 68 565 0.00 1.88 0.00 0.000 1030 0.000 0.062 2701 2687 3915 3974 3857 0 0 0 0 0 0 28.83 14.33 28.83

869 -0.57 -145.9 2702 2688 3974 3858 156.9 -14.9 100 878 0.00 2.38 0.00 0.000 516 0.000 0.078 2700 1299 3915 3974 3857 0 0 0 0 0 0 28.83 14.34 28.83

892 -0.57 -145.9 2701 1297 3975 3858 160.4 -14.9 104 902 0.15 2.50 0.00 0.000 3078 0.271 0.103 2721 2698 3915 3974 3857 0 0 0 0 0 0 14.23 14.32 28.83

1207 -0.66 -145.9 2722 2699 3975 3858 198.4 -10.8 136 1209 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2698 3915 3974 3857 0 0 0 0 0 0 28.83 28.83 28.83

1509 -0.77 -145.9 2722 2699 3976 3856 228.7 -9.8 166 1512 0.20 0.00 0.00 0.000 4102 0.109 0.000 2649 2698 3915 3974 3856 0 0 0 0 0 0 14.41 28.83 28.83

1816 -0.77 -145.9 2649 2698 3975 3856 271.8 -14.0 187 1824 0.00 1.92 0.00 0.000 260 0.000 0.112 2639 3792 3914 3973 3856 0 0 0 0 0 0 28.83 14.42 28.83

1873 -0.72 -145.9 2640 3792 3973 3856 280.5 -15.7 198 1882 0.08 1.85 0.00 0.000 3078 0.258 0.065 2671 2701 3914 3972 3856 0 0 0 0 0 0 14.34 14.47 28.83

2178 -0.72 -145.9 2672 2701 3972 3857 318.2 -12.2 209 2186 0.00 1.92 0.00 0.000 260 0.000 0.113 2665 3792 3913 3971 3856 0 0 0 0 0 0 28.83 14.46 28.83

2224 -0.72 -145.9 2665 3792 3973 3855 324.3 -13.3 218 2232 0.00 1.85 0.00 0.000 1030 0.000 0.065 2665 2693 3913 3970 3856 0 0 0 0 0 0 28.83 14.52 28.83

2542 -0.72 -145.9 2665 2696 3971 3856 363.9 -12.4 231 2544 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2696 3913 3970 3856 0 0 0 0 0 0 28.83 28.83 28.83

2843 -0.72 -145.9 2665 2696 3971 3856 400.6 -12.2 241 2850 0.00 1.92 0.00 0.000 260 0.000 0.113 2656 3792 3913 3970 3856 0 0 0 0 0 0 28.83 14.51 28.83

2914 -0.72 -145.9 2658 3793 3970 3857 410.4 -13.5 255 2922 0.00 1.83 0.00 0.000 1030 0.000 0.065 2656 2704 3912 3970 3855 0 0 0 0 0 0 28.83 14.54 28.83

3236 -0.72 -145.9 2657 2704 3970 3856 451.5 -12.7 269 3239 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2703 3913 3970 3856 0 0 0 0 0 0 28.83 28.83 28.83

3536 -0.72 -145.9 2658 2703 3970 3855 489.6 -12.7 279 3544 0.00 1.90 0.00 0.000 260 0.000 0.113 2648 3787 3912 3969 3855 0 0 0 0 0 0 28.83 14.52 28.83

3582 -0.72 -145.9 2648 3788 3970 3855 496.2 -14.0 288 3592 0.00 1.77 0.00 0.000 1030 0.000 0.066 2648 2701 3912 3969 3856 0 0 0 0 0 0 28.83 14.58 28.83

3631 end dive: TARGET_DEPTH_EXCEEDED

state 3631 begin apogee

3634 -0.13 0.0 2648 2852 3964 3856 502.6 -13.3 292 3768 0.80 0.00 127.80 1.700 10246 0.249 0.000 2856 2852 3314 3335 3293 0 0 0 0 0 0 14.43 28.83 13.14

3770 end apogee: CONTROL_FINISHED_OK

state 3770 begin climb

3771 0.70 145.9 2857 2852 3326 3285 506.6 0.0 296 3908 0.95 0.00 126.12 1.638 10246 0.145 0.000 3132 2852 2716 2723 2709 0 0 0 0 0 0 13.83 28.83 13.05

4201 0.61 145.9 3132 2853 2714 2690 459.7 13.5 311 4204 0.00 0.00 0.00 0.000 6 0.000 0.000 3132 2852 2701 2713 2689 0 0 0 0 0 0 28.83 28.83 28.83

4502 0.53 145.9 3133 2853 2714 2689 419.1 13.5 321 4510 0.20 2.42 0.00 0.000 4612 0.275 0.076 3094 1448 2701 2713 2689 0 0 0 0 0 0 14.17 14.32 28.83

4544 0.60 176.4 3093 1443 2714 2688 414.4 10.2 329 4578 0.00 2.50 26.60 1.482 9222 0.000 0.103 3094 2837 2594 2604 2584 0 0 0 0 0 0 28.83 14.32 13.57

4902 0.60 176.4 3095 2841 2593 2564 371.3 12.0 349 4910 0.00 2.42 0.00 0.000 516 0.000 0.078 3103 1439 2577 2592 2563 0 0 0 0 0 0 28.83 14.33 28.83

4934 0.65 193.6 3104 1439 2592 2564 367.7 11.0 355 4955 0.00 2.50 14.70 1.444 9222 0.000 0.101 3103 2841 2524 2536 2512 0 0 0 0 0 0 28.83 14.33 13.68

5269 0.65 193.6 3104 2841 2525 2495 325.5 12.6 371 5277 0.00 2.40 0.00 0.000 516 0.000 0.078 3112 1440 2509 2524 2495 0 0 0 0 0 0 28.83 14.37 28.83

5311 0.70 199.3 3112 1443 2525 2494 320.4 11.6 379 5319 0.00 2.50 0.00 0.000 1030 0.000 0.102 3111 2845 2509 2525 2494 0 0 0 0 0 0 28.83 14.35 28.83

5633 0.70 199.3 3113 2846 2525 2496 279.0 12.8 393 5635 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2845 2509 2524 2494 0 0 0 0 0 0 28.83 28.83 28.83

5933 0.70 199.3 3113 2842 2525 2495 240.9 12.8 407 5941 0.00 2.38 0.00 0.000 516 0.000 0.077 3120 1443 2509 2525 2494 0 0 0 0 0 0 28.83 14.48 28.83

6006 0.70 208.2 3121 1443 2524 2495 232.5 11.4 421 6026 0.00 2.47 12.32 1.327 9222 0.000 0.103 3121 2841 2464 2474 2454 0 0 0 0 0 0 28.83 14.45 13.83

6331 0.70 208.2 3121 2841 2467 2440 191.1 12.2 455 6334 0.00 0.00 0.00 0.000 6 0.000 0.000 3120 2841 2453 2467 2440 0 0 0 0 0 0 28.83 28.83 28.83

6631 0.73 250.4 3122 2842 2468 2440 159.1 9.6 485 6677 0.00 2.45 37.72 1.244 8708 0.000 0.079 3125 1445 2281 2286 2277 0 0 0 0 0 0 28.83 14.21 13.71

6786 0.88 305.5 3126 1445 2279 2266 144.3 8.9 514 6842 0.20 2.53 47.28 1.214 11270 0.104 0.103 3201 2846 2066 2062 2071 0 0 0 0 0 0 14.32 14.27 13.54

7146 0.84 305.5 3202 2847 2051 2045 91.4 14.3 553 7154 0.00 2.45 0.00 0.000 516 0.000 0.079 3209 1440 2046 2050 2043 0 0 0 0 0 0 28.83 14.29 28.83

7253 0.84 305.5 3210 1441 2051 2043 77.3 13.0 574 7262 0.12 2.53 0.00 0.000 5126 0.263 0.102 3184 2844 2046 2050 2042 0 0 0 0 0 0 14.24 14.31 28.83

7558 0.88 367.4 3185 2845 2052 2041 45.0 8.5 605 7592 0.00 0.00 25.75 0.315 8198 0.000 0.000 3184 2846 1816 1808 1825 0 0 0 0 0 0 28.83 28.83 14.20

7888 1.02 434.3 3185 2845 1838 1828 17.9 8.3 638 7931 0.17 1.73 31.95 0.233 10500 0.124 0.111 3250 3786 1543 1537 1549 0 0 0 0 0 0 14.44 14.31 14.27

8155 1.16 629.6 3252 3786 1557 1550 10.9 1.3 687 8251 0.00 1.60 88.32 0.217 9222 0.000 0.067 3257 2840 747 745 749 0 0 0 0 0 0 28.83 14.42 14.22

8374 end climb: SURFACE_DEPTH_REACHED

state 8374 begin surface coast

8414 end surface coast: CONTROL_FINISHED_OK

state 8414 begin surface

ID	196	ESCAPE_HEADING	0	C_ROLL_CLIMB	2840	ALTIM_FREQUENCY	13
MISSION	7	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	17	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	28	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	681.01007	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.75
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	3317	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	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	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	20	COMPASS_DEVICE	97
T_TURN	225	T_GPS	5	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	-4695.4526	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	1.5	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044209026
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00065043929
T_WATCHDOG	10	PITCH_MIN	208	MINV_10V	11	SEABIRD_T_I	2.5803243e-05
RELAUNCH	1	PITCH_MAX	3896	FG_AHR_10V	0	SEABIRD_T_J	3.1106315e-06
APOGEE_PITCH	-5	C_PITCH	2909	FG_AHR_24V	0	SEABIRD_C_G	-9.7475271
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1204907
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-73.350418	SEABIRD_C_I	-0.00083350006
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001164176	SEABIRD_C_J	0.00013962483
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	38	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54281	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	160	COMPASS_USE	4	TM_RECORDABOVE	2000.0
NAV_MODE	10	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	10	TM_LOGSAMPLE	0.0
HD_A	0.0043000001	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3787	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	4.3e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	400
HEADING	-1	C_ROLL_DIVE	2700	ALTIM_PING_DELTA	20

GPS1	280714,234912,7054.647,-14428.410,36,0.8,56,22.3	SPEED_LIMITS	0.206,0.254
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.24	MHEAD_RNG_PITCHd_Wd	338.1,77528,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-79.2	D_GRID	1000
GPS2	280714,235909,7054.542,-14428.384,4,0.8,24,22.3

FINISH	0.1,1.019165	_10V_AH	13.26,0.000
SM_CCo	8436,25.10,0.205,0,0,539,681.20	FG_AHR_24Vo	0.000
SM_GC	0.92,9.38,0.20,25.10,0.090,0.105,0.205,209,2702,539,-8.39,1.39,681.20,0,0,0,0,0,0,14.38,14.40,14.26	FG_AHR_10Vo	0.000
RAFOS_CLK	393	MEM	307612
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23385,718
IRIDIUM_FIX	7019.90,-14420.10,280714,214050	CAP_FILE_SIZE	123322,0
TT8_MAMPS	0.04494,0.04494	CFSIZE	2097872896,2088960000
HUMID	47.87	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.61163	INTR	0,7770.19,0x2378b6,7,5
TCM_TEMP	12.80	SOUNDSPEED	1449.2
XPDR_PINGS	6	EKF	8551,4255.695801,-8668.131836,0.126012,0.000598,-0.001144,0.014822,0.000152,0.001419,0.000099,0.001025,0.001025,0.000050
SC_FREEKB	3930528	CURRENT	0.084,167.13,1
TM_FREEKB	7744640	GPS	290714,022154,7055.318,-14427.868,36,0.7,56,22.3
_24V_AH	13.05,6.843

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	406	130.80	nil	0	0	0.00
Roll_motor	57	122	91.09	nil	0	0	0.00
VBD_pump_during_apogee	538	1699	11947.09	nil	0	0	0.00
VBD_pump_during_surface	25	205	67.16	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	8434	15	1738.24
Iridium_during_xfer	386	177	895.35	TMICL	8475	13	1470.63
Transponder_ping	3	420	16.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.26
TT8	0	0	0.00
LPSleep	6167	2	188.91
TT8_Active	672	9	84.50
TT8_Sampling	2147	28	824.27
TT8_CF8	70	35	33.48
TT8_Kalman	0	0	0.00
Analog_circuits	1748	10	231.90
GPS_charging	0	0	0.00
Compass	1069	0	10.64
RAFOS	1435	48	913.35
Transponder	13	30	5.23

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
17	-0.70	-145.9	198	2699	492	567	0.0	0.0	0	89	0.00	0.00	-69.00	0.000	16386	0.000	0.000	203	2699	2313	2320	2307	0	0	0	0	0	0	28.83	28.83	28.83
91	-0.70	-145.9	196	2699	2321	2307	4.5	-7.0	7	138	12.27	0.00	-27.67	0.000	19206	0.406	0.000	2672	2696	3913	3974	3853	0	0	0	0	0	0	14.04	28.83	14.42
433	-0.61	-145.9	2673	2698	3975	3858	84.1	-20.1	44	442	0.15	1.95	0.00	0.000	2308	0.305	0.106	2701	3790	3916	3975	3857	0	0	0	0	0	0	14.16	14.28	28.83
556	-0.57	-145.9	2701	3789	3976	3857	107.2	-18.1	68	565	0.00	1.88	0.00	0.000	1030	0.000	0.062	2701	2687	3915	3974	3857	0	0	0	0	0	0	28.83	14.33	28.83
869	-0.57	-145.9	2702	2688	3974	3858	156.9	-14.9	100	878	0.00	2.38	0.00	0.000	516	0.000	0.078	2700	1299	3915	3974	3857	0	0	0	0	0	0	28.83	14.34	28.83
892	-0.57	-145.9	2701	1297	3975	3858	160.4	-14.9	104	902	0.15	2.50	0.00	0.000	3078	0.271	0.103	2721	2698	3915	3974	3857	0	0	0	0	0	0	14.23	14.32	28.83
1207	-0.66	-145.9	2722	2699	3975	3858	198.4	-10.8	136	1209	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2698	3915	3974	3857	0	0	0	0	0	0	28.83	28.83	28.83
1509	-0.77	-145.9	2722	2699	3976	3856	228.7	-9.8	166	1512	0.20	0.00	0.00	0.000	4102	0.109	0.000	2649	2698	3915	3974	3856	0	0	0	0	0	0	14.41	28.83	28.83
1816	-0.77	-145.9	2649	2698	3975	3856	271.8	-14.0	187	1824	0.00	1.92	0.00	0.000	260	0.000	0.112	2639	3792	3914	3973	3856	0	0	0	0	0	0	28.83	14.42	28.83
1873	-0.72	-145.9	2640	3792	3973	3856	280.5	-15.7	198	1882	0.08	1.85	0.00	0.000	3078	0.258	0.065	2671	2701	3914	3972	3856	0	0	0	0	0	0	14.34	14.47	28.83
2178	-0.72	-145.9	2672	2701	3972	3857	318.2	-12.2	209	2186	0.00	1.92	0.00	0.000	260	0.000	0.113	2665	3792	3913	3971	3856	0	0	0	0	0	0	28.83	14.46	28.83
2224	-0.72	-145.9	2665	3792	3973	3855	324.3	-13.3	218	2232	0.00	1.85	0.00	0.000	1030	0.000	0.065	2665	2693	3913	3970	3856	0	0	0	0	0	0	28.83	14.52	28.83
2542	-0.72	-145.9	2665	2696	3971	3856	363.9	-12.4	231	2544	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2696	3913	3970	3856	0	0	0	0	0	0	28.83	28.83	28.83
2843	-0.72	-145.9	2665	2696	3971	3856	400.6	-12.2	241	2850	0.00	1.92	0.00	0.000	260	0.000	0.113	2656	3792	3913	3970	3856	0	0	0	0	0	0	28.83	14.51	28.83
2914	-0.72	-145.9	2658	3793	3970	3857	410.4	-13.5	255	2922	0.00	1.83	0.00	0.000	1030	0.000	0.065	2656	2704	3912	3970	3855	0	0	0	0	0	0	28.83	14.54	28.83
3236	-0.72	-145.9	2657	2704	3970	3856	451.5	-12.7	269	3239	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2703	3913	3970	3856	0	0	0	0	0	0	28.83	28.83	28.83
3536	-0.72	-145.9	2658	2703	3970	3855	489.6	-12.7	279	3544	0.00	1.90	0.00	0.000	260	0.000	0.113	2648	3787	3912	3969	3855	0	0	0	0	0	0	28.83	14.52	28.83
3582	-0.72	-145.9	2648	3788	3970	3855	496.2	-14.0	288	3592	0.00	1.77	0.00	0.000	1030	0.000	0.066	2648	2701	3912	3969	3856	0	0	0	0	0	0	28.83	14.58	28.83
3631	end dive: TARGET_DEPTH_EXCEEDED
state	3631	begin apogee
3634	-0.13	0.0	2648	2852	3964	3856	502.6	-13.3	292	3768	0.80	0.00	127.80	1.700	10246	0.249	0.000	2856	2852	3314	3335	3293	0	0	0	0	0	0	14.43	28.83	13.14
3770	end apogee: CONTROL_FINISHED_OK
state	3770	begin climb
3771	0.70	145.9	2857	2852	3326	3285	506.6	0.0	296	3908	0.95	0.00	126.12	1.638	10246	0.145	0.000	3132	2852	2716	2723	2709	0	0	0	0	0	0	13.83	28.83	13.05
4201	0.61	145.9	3132	2853	2714	2690	459.7	13.5	311	4204	0.00	0.00	0.00	0.000	6	0.000	0.000	3132	2852	2701	2713	2689	0	0	0	0	0	0	28.83	28.83	28.83
4502	0.53	145.9	3133	2853	2714	2689	419.1	13.5	321	4510	0.20	2.42	0.00	0.000	4612	0.275	0.076	3094	1448	2701	2713	2689	0	0	0	0	0	0	14.17	14.32	28.83
4544	0.60	176.4	3093	1443	2714	2688	414.4	10.2	329	4578	0.00	2.50	26.60	1.482	9222	0.000	0.103	3094	2837	2594	2604	2584	0	0	0	0	0	0	28.83	14.32	13.57
4902	0.60	176.4	3095	2841	2593	2564	371.3	12.0	349	4910	0.00	2.42	0.00	0.000	516	0.000	0.078	3103	1439	2577	2592	2563	0	0	0	0	0	0	28.83	14.33	28.83
4934	0.65	193.6	3104	1439	2592	2564	367.7	11.0	355	4955	0.00	2.50	14.70	1.444	9222	0.000	0.101	3103	2841	2524	2536	2512	0	0	0	0	0	0	28.83	14.33	13.68
5269	0.65	193.6	3104	2841	2525	2495	325.5	12.6	371	5277	0.00	2.40	0.00	0.000	516	0.000	0.078	3112	1440	2509	2524	2495	0	0	0	0	0	0	28.83	14.37	28.83
5311	0.70	199.3	3112	1443	2525	2494	320.4	11.6	379	5319	0.00	2.50	0.00	0.000	1030	0.000	0.102	3111	2845	2509	2525	2494	0	0	0	0	0	0	28.83	14.35	28.83
5633	0.70	199.3	3113	2846	2525	2496	279.0	12.8	393	5635	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2845	2509	2524	2494	0	0	0	0	0	0	28.83	28.83	28.83
5933	0.70	199.3	3113	2842	2525	2495	240.9	12.8	407	5941	0.00	2.38	0.00	0.000	516	0.000	0.077	3120	1443	2509	2525	2494	0	0	0	0	0	0	28.83	14.48	28.83
6006	0.70	208.2	3121	1443	2524	2495	232.5	11.4	421	6026	0.00	2.47	12.32	1.327	9222	0.000	0.103	3121	2841	2464	2474	2454	0	0	0	0	0	0	28.83	14.45	13.83
6331	0.70	208.2	3121	2841	2467	2440	191.1	12.2	455	6334	0.00	0.00	0.00	0.000	6	0.000	0.000	3120	2841	2453	2467	2440	0	0	0	0	0	0	28.83	28.83	28.83
6631	0.73	250.4	3122	2842	2468	2440	159.1	9.6	485	6677	0.00	2.45	37.72	1.244	8708	0.000	0.079	3125	1445	2281	2286	2277	0	0	0	0	0	0	28.83	14.21	13.71
6786	0.88	305.5	3126	1445	2279	2266	144.3	8.9	514	6842	0.20	2.53	47.28	1.214	11270	0.104	0.103	3201	2846	2066	2062	2071	0	0	0	0	0	0	14.32	14.27	13.54
7146	0.84	305.5	3202	2847	2051	2045	91.4	14.3	553	7154	0.00	2.45	0.00	0.000	516	0.000	0.079	3209	1440	2046	2050	2043	0	0	0	0	0	0	28.83	14.29	28.83
7253	0.84	305.5	3210	1441	2051	2043	77.3	13.0	574	7262	0.12	2.53	0.00	0.000	5126	0.263	0.102	3184	2844	2046	2050	2042	0	0	0	0	0	0	14.24	14.31	28.83
7558	0.88	367.4	3185	2845	2052	2041	45.0	8.5	605	7592	0.00	0.00	25.75	0.315	8198	0.000	0.000	3184	2846	1816	1808	1825	0	0	0	0	0	0	28.83	28.83	14.20
7888	1.02	434.3	3185	2845	1838	1828	17.9	8.3	638	7931	0.17	1.73	31.95	0.233	10500	0.124	0.111	3250	3786	1543	1537	1549	0	0	0	0	0	0	14.44	14.31	14.27
8155	1.16	629.6	3252	3786	1557	1550	10.9	1.3	687	8251	0.00	1.60	88.32	0.217	9222	0.000	0.067	3257	2840	747	745	749	0	0	0	0	0	0	28.83	14.42	14.22
8374	end climb: SURFACE_DEPTH_REACHED
state	8374	begin surface coast
8414	end surface coast: CONTROL_FINISHED_OK
state	8414	begin surface