Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 177 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 ESCAPE_HEADING 180 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 177 FIX_MISSING_TIMEOUT 4 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 29 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 669.66901 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.6

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 3230 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 720 LOGGERS 1

SURFACE_URGENCY_TRY 10 CALL_TRIES 3 PITCH_VBD_SHIFT 0.001 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 2 PHONE_DEVICE 49

T_NO_W 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -21821.002 PITCH_W_GAIN 4 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0.5 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 0.079999998 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044001359

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00063958467

T_WATCHDOG 10 PITCH_MIN 200 MINV_10V 11 SEABIRD_T_I 2.6420161e-05

RELAUNCH 1 PITCH_MAX 3900 FG_AHR_10V 0 SEABIRD_T_J 3.2747387e-06

APOGEE_PITCH -5 C_PITCH 2435 FG_AHR_24V 0 SEABIRD_C_G -9.7531748

MAX_BUOY 180 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1147131

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -64.963387 SEABIRD_C_I -0.0015239087

GLIDE_SLOPE 40 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001159754 SEABIRD_C_J 0.00019379995

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 35.5 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54269 PITCH_TIMEOUT 17 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 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 0.0031999999 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3771 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 2.1999999e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2360 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 750 PITCH_GAIN 35.5 SURFACE_URGENCY_FORCE 20

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3900 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 200 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 7100

ALTIM_PING_DEPTH 0 FILEMGR 2 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -14430

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 4 PITCH_W_GAIN 4 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 40 PRESSURE_SLOPE 0.0001159754 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -64.963387 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0031999999 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 2.1999999e-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 0.079999998 RAFOS_PEAK_OFFSET 1 T_GPS 3

CAPUPLOAD 0 ID 199 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -21821.002

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 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 2435 LOGGERDEVICE4 -1 ROLL_MAX 3771 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 1 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2360 MASS 54269 ROLL_MIN 218 UNCOM_BLEED 60

C_VBD 3230 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 180 R_PORT_OVSHOOT 29 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 18 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 -9.7531748 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1147131 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0015239087 VBD_MIN 500

DIVE 177 N_FILEKB 8 SEABIRD_C_J 0.00019379995 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 800 N_GPS -20 SEABIRD_T_G 0.0044001359 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00063958467 VBD_TIMEOUT 720

D_CALL 4.5 N_NOSURFACE 0 SEABIRD_T_I 2.6420161e-05 W_ADJ_DBAND 2

D_FINISH 9 PHONE_DEVICE 49 SEABIRD_T_J 3.2747387e-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 SM_CC 669.66901

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 200814,083848,7313.935,-14550.909,38,0.8,58,22.4 SPEED_LIMITS 0.139,0.275

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7315.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.35 MHEAD_RNG_PITCHd_Wd 351.8,2044,-33.8,-11.628,-36.27,813

_SM_ANGLEo -73.3 D_GRID 1000

GPS2 200814,084504,7313.930,-14550.938,5,0.8,26,22.4

Post-dive calculations and measurements:

FREEZE 1.36,0.004,-1.439,2,1,0 _24V_AH 12.66,120.586

FINISH 1.4,1.021191 _10V_AH 12.91,0.000

SM_CCo 9614,98.62,0.191,0,0,499,669.67 FG_AHR_24Vo 0.000

SM_GC 2.39,8.43,2.47,98.62,0.119,0.083,0.191,192,2366,499,-6.95,1.07,669.67,0,0,0,0,0,0,14.48,14.47,14.28 FG_AHR_10Vo 0.000

RAFOS_CLK 422 MEM 256848

RAFOS_FIX 7312.624023,-14547.229492,200814,080832,2,255,0.22 DATA_FILE_SIZE 26725,806

IRIDIUM_FIX 7242.81,-14439.04,200814,051358 CAP_FILE_SIZE 122927,0

TT8_MAMPS 0.047936,0.047936 CFSIZE 2097872896,2049376256

HUMID 49.13 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0

INTERNAL_PRESSURE 8.42643 INTR 0,12440.31,0x2378b6,7,5

TCM_TEMP 11.70 SOUNDSPEED 1447.7

XPDR_PINGS 0 GPS 200814,112826,7315.056,-14550.897,16,0.7,36,22.4

SC_FREEKB 3996880

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 472 130.12 nil 0 0 0.00

Roll_motor 70 126 113.66 nil 0 0 0.00

VBD_pump_during_apogee 432 2055 11266.15 nil 0 0 0.00

VBD_pump_during_surface 98 191 238.79 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 9615 13 1648.53

Iridium_during_xfer 205 171 445.49 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.52

TT8 0 0 0.00

LPSleep 7446 2 222.06

TT8_Active 651 10 92.20

TT8_Sampling 1843 29 706.86

TT8_CF8 149 36 70.12

TT8_Kalman 0 0 0.00

Analog_circuits 1500 10 193.70

GPS_charging 0 0 0.00

Compass 1204 5 77.72

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.01 -61.4 197 2364 484 503 0.0 0.0 0 80 0.00 0.00 -62.70 0.000 16386 0.000 0.000 195 2363 2030 2044 2016 0 0 0 0 0 0 28.83 28.83 28.83

83 -1.09 -133.8 196 2364 2051 2018 3.4 -2.5 6 136 10.32 2.45 -37.30 0.000 18948 0.472 0.109 2077 952 3780 3823 3737 0 0 0 0 0 0 14.00 14.29 14.59

360 -1.09 -133.8 2077 953 3825 3742 97.5 -27.4 62 365 0.00 2.47 0.00 0.000 1030 0.000 0.095 2068 2360 3782 3823 3741 0 0 0 0 0 0 28.83 14.35 28.83

670 -1.09 -133.8 2069 2361 3825 3742 185.6 -26.9 94 675 0.00 2.42 0.00 0.000 516 0.000 0.086 2068 946 3782 3823 3741 0 0 0 0 0 0 28.83 14.42 28.83

720 -1.09 -133.8 2069 947 3822 3741 198.6 -25.7 104 726 0.00 2.50 0.00 0.000 1030 0.000 0.099 2057 2367 3785 3824 3746 0 0 0 0 0 0 28.83 14.42 28.83

1030 -1.09 -133.8 2057 2368 3825 3742 271.9 -22.0 130 1031 0.00 0.00 0.00 0.000 6 0.000 0.000 2057 2368 3782 3823 3741 0 0 0 0 0 0 28.83 28.83 28.83

1330 -1.09 -133.8 2059 2368 3822 3742 337.1 -21.2 140 1335 0.00 2.50 0.00 0.000 260 0.000 0.123 2053 3776 3780 3823 3737 0 0 0 0 0 0 28.83 14.44 28.83

1380 -1.09 -133.8 2048 3772 3825 3742 348.8 -23.5 150 1386 0.08 2.45 0.00 0.000 3078 0.329 0.082 2076 2358 3780 3819 3741 0 0 0 0 0 0 14.30 14.55 28.83

1691 -1.09 -133.8 2076 2358 3825 3742 410.2 -19.3 162 1692 0.00 0.00 0.00 0.000 6 0.000 0.000 2076 2356 3782 3823 3741 0 0 0 0 0 0 28.83 28.83 28.83

1990 -1.09 -133.8 2077 2357 3823 3741 467.6 -18.8 172 1991 0.00 0.00 0.00 0.000 6 0.000 0.000 2076 2354 3782 3823 3741 0 0 0 0 0 0 28.83 28.83 28.83

2290 -1.09 -133.8 2076 2357 3829 3742 523.8 -18.6 182 2296 0.00 2.38 0.00 0.000 516 0.000 0.090 2076 956 3781 3823 3740 0 0 0 0 0 0 28.83 14.53 28.83

2340 -1.09 -133.8 2076 954 3825 3740 533.0 -18.2 192 2345 0.00 2.50 0.00 0.000 1030 0.000 0.099 2069 2360 3782 3823 3741 0 0 0 0 0 0 28.83 14.60 28.83

2650 -1.09 -133.8 2068 2361 3823 3741 591.8 -19.0 204 2651 0.00 0.00 0.00 0.000 6 0.000 0.000 2067 2360 3782 3823 3741 0 0 0 0 0 0 28.83 28.83 28.83

2950 -1.09 -133.8 2068 2361 3823 3742 648.9 -19.1 214 2951 0.00 0.00 0.00 0.000 6 0.000 0.000 2067 2360 3782 3823 3741 0 0 0 0 0 0 28.83 28.83 28.83

3250 -1.09 -133.8 2067 2360 3825 3742 705.4 -18.7 224 3251 0.00 0.00 0.00 0.000 6 0.000 0.000 2067 2360 3782 3823 3741 0 0 0 0 0 0 28.83 28.83 28.83

3489 end dive: TARGET_DEPTH_EXCEEDED

state 3489 begin apogee

3493 -0.14 0.0 2067 2609 3823 3742 750.3 -18.7 232 3616 1.33 0.00 119.60 2.056 10246 0.329 0.000 2380 2609 3226 3275 3178 0 0 0 0 0 0 14.38 28.83 13.15

3617 end apogee: CONTROL_FINISHED_OK

state 3617 begin climb

3619 1.09 133.8 2379 2610 3274 3175 754.8 0.0 236 3739 1.38 0.00 116.15 2.015 10502 0.154 0.000 2778 2609 2681 2725 2637 0 0 0 0 0 0 13.83 28.83 12.66

4030 1.09 133.8 2778 2609 2724 2619 698.2 17.0 265 4035 0.00 2.17 0.00 0.000 260 0.000 0.119 2778 3764 2670 2723 2618 0 0 0 0 0 0 28.83 14.00 28.83

4085 1.09 133.8 2778 3765 2724 2619 688.0 18.8 276 4092 0.00 2.08 0.00 0.000 1030 0.000 0.078 2787 2599 2668 2718 2618 0 0 0 0 0 0 28.83 14.12 28.83

4390 1.09 133.8 2788 2600 2722 2619 634.9 17.3 287 4396 0.00 2.15 0.00 0.000 260 0.000 0.120 2787 3757 2670 2723 2618 0 0 0 0 0 0 28.83 14.31 28.83

4440 1.09 133.8 2787 3757 2722 2619 625.5 19.1 297 4446 0.00 2.03 0.00 0.000 1030 0.000 0.078 2795 2600 2670 2722 2619 0 0 0 0 0 0 28.83 14.38 28.83

4750 1.09 133.8 2795 2595 2724 2619 570.7 17.6 309 4755 0.00 2.15 0.00 0.000 260 0.000 0.120 2795 3762 2670 2723 2618 0 0 0 0 0 0 28.83 14.43 28.83

4800 1.09 133.8 2795 3762 2724 2619 561.1 19.3 319 4806 0.00 2.03 0.00 0.000 1030 0.000 0.078 2804 2592 2671 2723 2619 0 0 0 0 0 0 28.83 14.48 28.83

5110 1.09 133.8 2804 2593 2723 2619 506.4 17.5 331 5111 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 2592 2670 2722 2618 0 0 0 0 0 0 28.83 28.83 28.83

5410 1.09 133.8 2804 2593 2724 2619 454.4 17.3 341 5415 0.00 2.15 0.00 0.000 260 0.000 0.120 2804 3769 2670 2722 2618 0 0 0 0 0 0 28.83 14.48 28.83

5465 1.09 133.8 2805 3769 2722 2619 443.9 19.7 352 5472 0.00 2.00 0.00 0.000 1030 0.000 0.079 2812 2605 2672 2726 2618 0 0 0 0 0 0 28.83 14.58 28.83

5770 1.09 133.8 2812 2606 2724 2619 390.7 17.2 363 5776 0.12 2.08 0.00 0.000 4356 0.353 0.120 2787 3769 2670 2723 2618 0 0 0 0 0 0 14.41 14.52 28.83

5810 1.09 133.8 2789 3770 2722 2619 383.3 18.6 371 5816 0.00 2.00 0.00 0.000 1030 0.000 0.079 2795 2602 2670 2722 2618 0 0 0 0 0 0 28.83 14.60 28.83

6132 1.09 133.8 2796 2603 2722 2619 331.1 16.1 385 6133 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 2602 2671 2724 2618 0 0 0 0 0 0 28.83 28.83 28.83

6431 1.09 133.8 2796 2603 2722 2618 283.9 15.3 395 6436 0.00 2.12 0.00 0.000 260 0.000 0.121 2795 3767 2671 2725 2618 0 0 0 0 0 0 28.83 14.53 28.83

6465 1.09 133.8 2794 3767 2724 2619 278.4 16.0 402 6471 0.00 2.00 0.00 0.000 1030 0.000 0.079 2803 2598 2670 2723 2618 0 0 0 0 0 0 28.83 14.63 28.83

6770 1.09 133.8 2805 2599 2722 2619 235.6 12.8 423 6776 0.00 2.12 0.00 0.000 260 0.000 0.120 2803 3764 2671 2723 2619 0 0 0 0 0 0 28.83 14.53 28.83

6820 1.09 133.8 2803 3765 2724 2619 228.9 13.5 433 6826 0.00 2.00 0.00 0.000 1030 0.000 0.078 2812 2599 2670 2722 2618 0 0 0 0 0 0 28.83 14.58 28.83

7131 1.13 180.4 2812 2600 2724 2619 202.3 5.7 465 7177 0.00 2.15 38.90 1.433 8452 0.000 0.121 2811 3757 2485 2539 2432 0 0 0 0 0 0 28.83 14.28 13.73

7246 1.13 180.4 2813 3757 2534 2428 191.3 12.4 488 7253 0.00 2.03 0.00 0.000 1030 0.000 0.077 2821 2596 2480 2534 2427 0 0 0 0 0 0 28.83 14.37 28.83

7551 1.16 202.1 2820 2597 2536 2426 158.9 8.9 519 7573 0.00 2.17 18.20 1.396 8452 0.000 0.121 2821 3769 2400 2457 2343 0 0 1 0 0 0 28.83 14.29 13.74

7603 1.16 202.1 2820 3769 2451 2340 153.0 12.0 529 7608 0.00 2.05 0.00 0.000 1030 0.000 0.078 2828 2595 2394 2449 2339 0 0 0 0 0 0 28.83 14.38 28.83

7913 1.18 223.1 2830 2596 2449 2337 120.1 9.0 561 7935 0.00 0.00 17.55 1.349 8710 0.000 0.000 2829 2595 2315 2373 2257 0 0 0 0 0 0 28.83 28.83 13.75

8233 1.20 244.0 2830 2596 2369 2247 86.7 9.0 594 8245 0.00 2.20 8.70 0.403 8452 0.000 0.122 2829 3771 2236 2300 2173 0 0 0 0 0 0 28.83 14.40 14.14

8470 1.24 284.8 2830 3772 2313 2188 67.5 6.5 641 8497 0.00 2.05 21.77 0.368 9222 0.000 0.081 2838 2596 2070 2142 1998 0 0 0 0 0 0 28.83 14.42 14.21

8796 1.31 355.3 2837 2597 2160 2008 51.7 2.7 676 8837 0.00 2.20 36.00 0.325 8452 0.000 0.123 2838 3767 1781 1860 1703 0 0 0 0 0 0 28.83 14.38 14.21

9031 1.33 377.4 2839 3771 1863 1711 29.5 8.8 723 9048 0.00 2.05 11.68 0.262 9222 0.000 0.081 2847 2600 1690 1772 1608 0 0 0 0 0 0 28.83 14.47 14.28

9348 1.42 467.8 2846 2601 1781 1617 16.0 0.2 756 9399 0.12 2.12 44.38 0.232 10500 0.154 0.123 2894 3770 1321 1405 1237 0 0 0 0 0 0 14.50 14.39 14.27

9577 end climb: SURFACE_DEPTH_REACHED

state 9577 begin surface coast

9597 end surface coast: CONTROL_FINISHED_OK

state 9597 begin surface

ID	199	ESCAPE_HEADING	180	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	177	FIX_MISSING_TIMEOUT	4	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	29	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	669.66901	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.6
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	3230	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	720	LOGGERS	1
SURFACE_URGENCY_TRY	10	CALL_TRIES	3	PITCH_VBD_SHIFT	0.001	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	2	PHONE_DEVICE	49
T_NO_W	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-21821.002	PITCH_W_GAIN	4	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0.5	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	0.079999998	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044001359
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00063958467
T_WATCHDOG	10	PITCH_MIN	200	MINV_10V	11	SEABIRD_T_I	2.6420161e-05
RELAUNCH	1	PITCH_MAX	3900	FG_AHR_10V	0	SEABIRD_T_J	3.2747387e-06
APOGEE_PITCH	-5	C_PITCH	2435	FG_AHR_24V	0	SEABIRD_C_G	-9.7531748
MAX_BUOY	180	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1147131
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-64.963387	SEABIRD_C_I	-0.0015239087
GLIDE_SLOPE	40	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001159754	SEABIRD_C_J	0.00019379995
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	35.5	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54269	PITCH_TIMEOUT	17	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	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	0.0031999999	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3771	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	2.1999999e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2360	ALTIM_PING_DELTA	5

GPS1	200814,083848,7313.935,-14550.909,38,0.8,58,22.4	SPEED_LIMITS	0.139,0.275
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7315.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.35	MHEAD_RNG_PITCHd_Wd	351.8,2044,-33.8,-11.628,-36.27,813
_SM_ANGLEo	-73.3	D_GRID	1000
GPS2	200814,084504,7313.930,-14550.938,5,0.8,26,22.4

FREEZE	1.36,0.004,-1.439,2,1,0	_24V_AH	12.66,120.586
FINISH	1.4,1.021191	_10V_AH	12.91,0.000
SM_CCo	9614,98.62,0.191,0,0,499,669.67	FG_AHR_24Vo	0.000
SM_GC	2.39,8.43,2.47,98.62,0.119,0.083,0.191,192,2366,499,-6.95,1.07,669.67,0,0,0,0,0,0,14.48,14.47,14.28	FG_AHR_10Vo	0.000
RAFOS_CLK	422	MEM	256848
RAFOS_FIX	7312.624023,-14547.229492,200814,080832,2,255,0.22	DATA_FILE_SIZE	26725,806
IRIDIUM_FIX	7242.81,-14439.04,200814,051358	CAP_FILE_SIZE	122927,0
TT8_MAMPS	0.047936,0.047936	CFSIZE	2097872896,2049376256
HUMID	49.13	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
INTERNAL_PRESSURE	8.42643	INTR	0,12440.31,0x2378b6,7,5
TCM_TEMP	11.70	SOUNDSPEED	1447.7
XPDR_PINGS	0	GPS	200814,112826,7315.056,-14550.897,16,0.7,36,22.4
SC_FREEKB	3996880

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	472	130.12	nil	0	0	0.00
Roll_motor	70	126	113.66	nil	0	0	0.00
VBD_pump_during_apogee	432	2055	11266.15	nil	0	0	0.00
VBD_pump_during_surface	98	191	238.79	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	9615	13	1648.53
Iridium_during_xfer	205	171	445.49	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.52
TT8	0	0	0.00
LPSleep	7446	2	222.06
TT8_Active	651	10	92.20
TT8_Sampling	1843	29	706.86
TT8_CF8	149	36	70.12
TT8_Kalman	0	0	0.00
Analog_circuits	1500	10	193.70
GPS_charging	0	0	0.00
Compass	1204	5	77.72
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.01	-61.4	197	2364	484	503	0.0	0.0	0	80	0.00	0.00	-62.70	0.000	16386	0.000	0.000	195	2363	2030	2044	2016	0	0	0	0	0	0	28.83	28.83	28.83
83	-1.09	-133.8	196	2364	2051	2018	3.4	-2.5	6	136	10.32	2.45	-37.30	0.000	18948	0.472	0.109	2077	952	3780	3823	3737	0	0	0	0	0	0	14.00	14.29	14.59
360	-1.09	-133.8	2077	953	3825	3742	97.5	-27.4	62	365	0.00	2.47	0.00	0.000	1030	0.000	0.095	2068	2360	3782	3823	3741	0	0	0	0	0	0	28.83	14.35	28.83
670	-1.09	-133.8	2069	2361	3825	3742	185.6	-26.9	94	675	0.00	2.42	0.00	0.000	516	0.000	0.086	2068	946	3782	3823	3741	0	0	0	0	0	0	28.83	14.42	28.83
720	-1.09	-133.8	2069	947	3822	3741	198.6	-25.7	104	726	0.00	2.50	0.00	0.000	1030	0.000	0.099	2057	2367	3785	3824	3746	0	0	0	0	0	0	28.83	14.42	28.83
1030	-1.09	-133.8	2057	2368	3825	3742	271.9	-22.0	130	1031	0.00	0.00	0.00	0.000	6	0.000	0.000	2057	2368	3782	3823	3741	0	0	0	0	0	0	28.83	28.83	28.83
1330	-1.09	-133.8	2059	2368	3822	3742	337.1	-21.2	140	1335	0.00	2.50	0.00	0.000	260	0.000	0.123	2053	3776	3780	3823	3737	0	0	0	0	0	0	28.83	14.44	28.83
1380	-1.09	-133.8	2048	3772	3825	3742	348.8	-23.5	150	1386	0.08	2.45	0.00	0.000	3078	0.329	0.082	2076	2358	3780	3819	3741	0	0	0	0	0	0	14.30	14.55	28.83
1691	-1.09	-133.8	2076	2358	3825	3742	410.2	-19.3	162	1692	0.00	0.00	0.00	0.000	6	0.000	0.000	2076	2356	3782	3823	3741	0	0	0	0	0	0	28.83	28.83	28.83
1990	-1.09	-133.8	2077	2357	3823	3741	467.6	-18.8	172	1991	0.00	0.00	0.00	0.000	6	0.000	0.000	2076	2354	3782	3823	3741	0	0	0	0	0	0	28.83	28.83	28.83
2290	-1.09	-133.8	2076	2357	3829	3742	523.8	-18.6	182	2296	0.00	2.38	0.00	0.000	516	0.000	0.090	2076	956	3781	3823	3740	0	0	0	0	0	0	28.83	14.53	28.83
2340	-1.09	-133.8	2076	954	3825	3740	533.0	-18.2	192	2345	0.00	2.50	0.00	0.000	1030	0.000	0.099	2069	2360	3782	3823	3741	0	0	0	0	0	0	28.83	14.60	28.83
2650	-1.09	-133.8	2068	2361	3823	3741	591.8	-19.0	204	2651	0.00	0.00	0.00	0.000	6	0.000	0.000	2067	2360	3782	3823	3741	0	0	0	0	0	0	28.83	28.83	28.83
2950	-1.09	-133.8	2068	2361	3823	3742	648.9	-19.1	214	2951	0.00	0.00	0.00	0.000	6	0.000	0.000	2067	2360	3782	3823	3741	0	0	0	0	0	0	28.83	28.83	28.83
3250	-1.09	-133.8	2067	2360	3825	3742	705.4	-18.7	224	3251	0.00	0.00	0.00	0.000	6	0.000	0.000	2067	2360	3782	3823	3741	0	0	0	0	0	0	28.83	28.83	28.83
3489	end dive: TARGET_DEPTH_EXCEEDED
state	3489	begin apogee
3493	-0.14	0.0	2067	2609	3823	3742	750.3	-18.7	232	3616	1.33	0.00	119.60	2.056	10246	0.329	0.000	2380	2609	3226	3275	3178	0	0	0	0	0	0	14.38	28.83	13.15
3617	end apogee: CONTROL_FINISHED_OK
state	3617	begin climb
3619	1.09	133.8	2379	2610	3274	3175	754.8	0.0	236	3739	1.38	0.00	116.15	2.015	10502	0.154	0.000	2778	2609	2681	2725	2637	0	0	0	0	0	0	13.83	28.83	12.66
4030	1.09	133.8	2778	2609	2724	2619	698.2	17.0	265	4035	0.00	2.17	0.00	0.000	260	0.000	0.119	2778	3764	2670	2723	2618	0	0	0	0	0	0	28.83	14.00	28.83
4085	1.09	133.8	2778	3765	2724	2619	688.0	18.8	276	4092	0.00	2.08	0.00	0.000	1030	0.000	0.078	2787	2599	2668	2718	2618	0	0	0	0	0	0	28.83	14.12	28.83
4390	1.09	133.8	2788	2600	2722	2619	634.9	17.3	287	4396	0.00	2.15	0.00	0.000	260	0.000	0.120	2787	3757	2670	2723	2618	0	0	0	0	0	0	28.83	14.31	28.83
4440	1.09	133.8	2787	3757	2722	2619	625.5	19.1	297	4446	0.00	2.03	0.00	0.000	1030	0.000	0.078	2795	2600	2670	2722	2619	0	0	0	0	0	0	28.83	14.38	28.83
4750	1.09	133.8	2795	2595	2724	2619	570.7	17.6	309	4755	0.00	2.15	0.00	0.000	260	0.000	0.120	2795	3762	2670	2723	2618	0	0	0	0	0	0	28.83	14.43	28.83
4800	1.09	133.8	2795	3762	2724	2619	561.1	19.3	319	4806	0.00	2.03	0.00	0.000	1030	0.000	0.078	2804	2592	2671	2723	2619	0	0	0	0	0	0	28.83	14.48	28.83
5110	1.09	133.8	2804	2593	2723	2619	506.4	17.5	331	5111	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	2592	2670	2722	2618	0	0	0	0	0	0	28.83	28.83	28.83
5410	1.09	133.8	2804	2593	2724	2619	454.4	17.3	341	5415	0.00	2.15	0.00	0.000	260	0.000	0.120	2804	3769	2670	2722	2618	0	0	0	0	0	0	28.83	14.48	28.83
5465	1.09	133.8	2805	3769	2722	2619	443.9	19.7	352	5472	0.00	2.00	0.00	0.000	1030	0.000	0.079	2812	2605	2672	2726	2618	0	0	0	0	0	0	28.83	14.58	28.83
5770	1.09	133.8	2812	2606	2724	2619	390.7	17.2	363	5776	0.12	2.08	0.00	0.000	4356	0.353	0.120	2787	3769	2670	2723	2618	0	0	0	0	0	0	14.41	14.52	28.83
5810	1.09	133.8	2789	3770	2722	2619	383.3	18.6	371	5816	0.00	2.00	0.00	0.000	1030	0.000	0.079	2795	2602	2670	2722	2618	0	0	0	0	0	0	28.83	14.60	28.83
6132	1.09	133.8	2796	2603	2722	2619	331.1	16.1	385	6133	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	2602	2671	2724	2618	0	0	0	0	0	0	28.83	28.83	28.83
6431	1.09	133.8	2796	2603	2722	2618	283.9	15.3	395	6436	0.00	2.12	0.00	0.000	260	0.000	0.121	2795	3767	2671	2725	2618	0	0	0	0	0	0	28.83	14.53	28.83
6465	1.09	133.8	2794	3767	2724	2619	278.4	16.0	402	6471	0.00	2.00	0.00	0.000	1030	0.000	0.079	2803	2598	2670	2723	2618	0	0	0	0	0	0	28.83	14.63	28.83
6770	1.09	133.8	2805	2599	2722	2619	235.6	12.8	423	6776	0.00	2.12	0.00	0.000	260	0.000	0.120	2803	3764	2671	2723	2619	0	0	0	0	0	0	28.83	14.53	28.83
6820	1.09	133.8	2803	3765	2724	2619	228.9	13.5	433	6826	0.00	2.00	0.00	0.000	1030	0.000	0.078	2812	2599	2670	2722	2618	0	0	0	0	0	0	28.83	14.58	28.83
7131	1.13	180.4	2812	2600	2724	2619	202.3	5.7	465	7177	0.00	2.15	38.90	1.433	8452	0.000	0.121	2811	3757	2485	2539	2432	0	0	0	0	0	0	28.83	14.28	13.73
7246	1.13	180.4	2813	3757	2534	2428	191.3	12.4	488	7253	0.00	2.03	0.00	0.000	1030	0.000	0.077	2821	2596	2480	2534	2427	0	0	0	0	0	0	28.83	14.37	28.83
7551	1.16	202.1	2820	2597	2536	2426	158.9	8.9	519	7573	0.00	2.17	18.20	1.396	8452	0.000	0.121	2821	3769	2400	2457	2343	0	0	1	0	0	0	28.83	14.29	13.74
7603	1.16	202.1	2820	3769	2451	2340	153.0	12.0	529	7608	0.00	2.05	0.00	0.000	1030	0.000	0.078	2828	2595	2394	2449	2339	0	0	0	0	0	0	28.83	14.38	28.83
7913	1.18	223.1	2830	2596	2449	2337	120.1	9.0	561	7935	0.00	0.00	17.55	1.349	8710	0.000	0.000	2829	2595	2315	2373	2257	0	0	0	0	0	0	28.83	28.83	13.75
8233	1.20	244.0	2830	2596	2369	2247	86.7	9.0	594	8245	0.00	2.20	8.70	0.403	8452	0.000	0.122	2829	3771	2236	2300	2173	0	0	0	0	0	0	28.83	14.40	14.14
8470	1.24	284.8	2830	3772	2313	2188	67.5	6.5	641	8497	0.00	2.05	21.77	0.368	9222	0.000	0.081	2838	2596	2070	2142	1998	0	0	0	0	0	0	28.83	14.42	14.21
8796	1.31	355.3	2837	2597	2160	2008	51.7	2.7	676	8837	0.00	2.20	36.00	0.325	8452	0.000	0.123	2838	3767	1781	1860	1703	0	0	0	0	0	0	28.83	14.38	14.21
9031	1.33	377.4	2839	3771	1863	1711	29.5	8.8	723	9048	0.00	2.05	11.68	0.262	9222	0.000	0.081	2847	2600	1690	1772	1608	0	0	0	0	0	0	28.83	14.47	14.28
9348	1.42	467.8	2846	2601	1781	1617	16.0	0.2	756	9399	0.12	2.12	44.38	0.232	10500	0.154	0.123	2894	3770	1321	1405	1237	0	0	0	0	0	0	14.50	14.39	14.27
9577	end climb: SURFACE_DEPTH_REACHED
state	9577	begin surface coast
9597	end surface coast: CONTROL_FINISHED_OK
state	9597	begin surface