Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 19 * 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 19 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 40 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 20 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 -4697.9688 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 -4697.9688

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 40 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 20 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 19 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 290714,045543,7056.042,-14427.131,14,0.8,34,22.3 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 1.30 MHEAD_RNG_PITCHd_Wd 335.6,74760,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -78.3 D_GRID 1000

GPS2 290714,050545,7056.000,-14427.205,4,0.8,24,22.3

Post-dive calculations and measurements:

FINISH 0.2,1.007380 _10V_AH 13.27,0.000

SM_CCo 8401,9.65,0.207,0,0,539,681.20 FG_AHR_24Vo 0.000

SM_GC 2.94,9.90,0.22,9.65,0.095,0.098,0.207,200,2701,539,-8.41,1.16,681.20,0,0,0,0,0,0,14.39,14.40,14.28 FG_AHR_10Vo 0.000

RAFOS_CLK 391 MEM 306680

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23344,657

IRIDIUM_FIX 7019.90,-14434.62,290714,022533 CAP_FILE_SIZE 119551,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2088435712

HUMID 47.36 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.60186 INTR 0,9213.68,0x2378b6,7,5

TCM_TEMP 12.90 SOUNDSPEED 1448.0

XPDR_PINGS 7 EKF 8508,4257.201660,-8666.865234,0.202676,-0.177501,0.155940,-0.005769,0.000161,0.001506,0.000099,0.003025,0.003025,0.000050

SC_FREEKB 3929632 CURRENT 0.088,156.08,1

TM_FREEKB 7718524 GPS 290714,072748,7056.820,-14426.329,44,0.8,64,22.3

_24V_AH 13.05,7.508

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 408 133.81 nil 0 0 0.00

Roll_motor 52 126 87.46 nil 0 0 0.00

VBD_pump_during_apogee 554 1751 12680.96 nil 0 0 0.00

VBD_pump_during_surface 9 207 26.11 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 8396 15 1690.85

Iridium_during_xfer 379 180 894.30 TMICL 8446 13 1465.27

Transponder_ping 3 420 17.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.26

TT8 0 0 0.00

LPSleep 6255 2 191.76

TT8_Active 689 9 86.64

TT8_Sampling 1997 28 767.26

TT8_CF8 69 35 32.72

TT8_Kalman 0 0 0.00

Analog_circuits 1677 10 222.60

GPS_charging 0 0 0.00

Compass 984 0 9.80

RAFOS 0 0 0.00

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.70 -145.9 199 2697 461 527 0.0 0.0 0 83 0.00 0.00 -63.58 0.000 16386 0.000 0.000 198 2697 2231 2240 2223 0 0 0 0 0 0 28.83 28.83 28.83

85 -0.70 -145.9 199 2698 2241 2225 4.5 -6.5 6 135 12.25 0.00 -28.40 0.000 18950 0.409 0.000 2673 2697 3915 3976 3855 0 0 0 0 0 0 14.08 28.83 14.47

428 -0.61 -145.9 2672 2696 3977 3859 86.3 -20.2 43 436 0.15 1.92 0.00 0.000 2308 0.311 0.108 2698 3788 3917 3976 3859 0 0 0 0 0 0 14.26 14.36 28.83

590 -0.61 -145.9 2698 3789 3977 3858 116.4 -18.2 75 599 0.00 1.85 0.00 0.000 1030 0.000 0.063 2697 2697 3917 3976 3859 0 0 0 0 0 0 28.83 14.40 28.83

903 -0.61 -145.9 2698 2698 3977 3860 166.2 -14.8 107 907 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2698 3917 3976 3859 0 0 0 0 0 0 28.83 28.83 28.83

1203 -0.66 -145.9 2698 2697 3977 3858 205.1 -12.2 137 1206 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2697 3917 3976 3859 0 0 0 0 0 0 28.83 28.83 28.83

1504 -0.72 -145.9 2698 2698 3977 3859 240.4 -11.2 167 1506 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2698 3916 3975 3858 0 0 0 0 0 0 28.83 28.83 28.83

1803 -0.79 -145.9 2698 2698 3976 3858 273.0 -10.5 183 1807 0.15 0.00 0.00 0.000 4102 0.131 0.000 2648 2697 3916 3975 3858 0 0 0 0 0 0 14.52 28.83 28.83

2103 -0.79 -145.9 2642 2698 3975 3859 313.6 -13.8 193 2106 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2697 3916 3974 3858 0 0 0 0 0 0 28.83 28.83 28.83

2403 -0.79 -145.9 2642 2698 3974 3859 355.2 -13.8 203 2411 0.00 1.92 0.00 0.000 260 0.000 0.114 2632 3790 3915 3973 3858 0 0 0 0 0 0 28.83 14.52 28.83

2455 -0.73 -145.9 2633 3790 3974 3858 363.0 -16.3 213 2465 0.12 1.85 0.00 0.000 3078 0.259 0.064 2665 2694 3916 3974 3858 0 0 0 0 0 0 14.42 14.57 28.83

2770 -0.73 -145.9 2664 2695 3973 3859 401.3 -12.0 225 2773 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2694 3915 3973 3858 0 0 0 0 0 0 28.83 28.83 28.83

3069 -0.73 -145.9 2665 2695 3974 3859 437.4 -12.0 235 3071 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2694 3915 3973 3858 0 0 0 0 0 0 28.83 28.83 28.83

3369 -0.78 -145.9 2666 2695 3973 3859 473.1 -11.9 245 3372 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2694 3915 3972 3858 0 0 0 0 0 0 28.83 28.83 28.83

3609 end dive: TARGET_DEPTH_EXCEEDED

state 3609 begin apogee

3612 -0.13 0.0 2665 2846 3974 3857 501.4 -11.7 253 3742 0.73 0.00 125.47 1.751 10246 0.246 0.000 2857 2847 3317 3338 3296 0 0 0 0 0 0 14.47 28.83 13.17

3744 end apogee: CONTROL_FINISHED_OK

state 3744 begin climb

3745 0.70 145.9 2858 2848 3332 3289 505.1 0.0 257 3885 0.95 0.00 125.47 1.658 10246 0.149 0.000 3131 2847 2710 2718 2703 0 0 0 0 0 0 13.83 28.83 13.05

4179 0.62 145.9 3134 2847 2718 2694 458.3 13.3 272 4181 0.00 0.00 0.00 0.000 6 0.000 0.000 3131 2846 2705 2717 2694 0 0 0 0 0 0 28.83 28.83 28.83

4479 0.53 145.9 3132 2845 2718 2693 417.6 13.4 282 4487 0.20 2.42 0.00 0.000 4612 0.278 0.074 3093 1439 2708 2717 2700 0 0 0 0 0 0 14.18 14.32 28.83

4521 0.60 177.8 3094 1438 2717 2693 412.9 10.2 290 4555 0.00 2.50 27.48 1.513 9222 0.000 0.101 3093 2836 2586 2594 2579 0 0 0 0 0 0 28.83 14.33 13.57

4879 0.60 177.8 3094 2837 2590 2563 369.9 12.2 310 4887 0.00 2.42 0.00 0.000 516 0.000 0.076 3102 1433 2575 2589 2562 0 0 0 0 0 0 28.83 14.33 28.83

4916 0.66 189.2 3103 1434 2591 2563 365.6 11.3 317 4926 0.00 2.53 3.88 1.089 9222 0.000 0.101 3102 2848 2545 2558 2532 0 0 0 0 0 0 28.83 14.33 13.55

5245 0.66 189.2 3103 2849 2585 2544 324.4 12.6 332 5254 0.00 2.50 2.28 0.494 8708 0.000 0.076 3112 1435 2546 2565 2528 0 0 0 0 0 0 28.83 14.40 13.66

5278 0.66 189.2 3112 1437 2577 2542 320.4 12.3 338 5286 0.00 2.50 1.45 0.265 9222 0.000 0.101 3112 2843 2544 2562 2527 0 0 0 0 0 0 28.83 14.40 14.29

5610 0.66 189.2 3113 2845 2585 2538 277.3 13.0 354 5616 0.00 0.00 1.90 0.246 8198 0.000 0.000 3112 2844 2543 2561 2526 0 0 0 0 0 0 28.83 28.83 14.36

5910 0.66 189.2 3113 2844 2585 2536 240.1 12.2 368 5919 0.00 2.47 1.77 0.252 8708 0.000 0.076 3120 1436 2546 2566 2526 0 0 0 0 0 0 28.83 14.48 14.38

5973 0.67 199.5 3121 1436 2580 2539 232.8 11.3 380 5996 0.00 2.47 15.23 1.439 9222 0.000 0.101 3120 2840 2498 2511 2485 0 0 0 0 0 0 28.83 14.46 13.81

6300 0.67 201.0 3120 2840 2506 2477 192.7 11.8 414 6308 0.00 2.40 0.00 0.000 516 0.000 0.076 3128 1434 2490 2504 2477 0 0 0 0 0 0 28.83 14.42 28.83

6322 0.68 222.7 3129 1433 2506 2478 190.4 10.7 418 6352 0.00 2.50 20.60 1.320 9222 0.000 0.101 3128 2842 2401 2409 2393 0 0 0 0 0 0 28.83 14.39 13.78

6646 0.71 264.6 3129 2843 2405 2384 153.9 9.6 452 6691 0.00 2.53 36.33 1.260 8708 0.000 0.077 3138 1440 2228 2232 2224 0 0 0 0 0 0 28.83 14.14 13.66

6725 0.82 294.0 3139 1441 2226 2215 145.8 10.3 465 6762 0.10 2.53 25.35 1.255 11270 0.156 0.101 3180 2839 2107 2107 2108 0 0 0 0 0 0 14.20 14.18 13.58

7056 0.82 294.0 3181 2839 2106 2095 100.8 13.0 500 7064 0.00 2.42 0.00 0.000 516 0.000 0.077 3191 1441 2099 2104 2095 0 0 0 0 0 0 28.83 14.30 28.83

7149 0.83 307.8 3191 1440 2105 2094 89.9 11.2 518 7163 0.00 2.50 4.57 0.377 9222 0.000 0.103 3191 2839 2064 2070 2058 0 0 0 0 0 0 28.83 14.31 14.09

7459 0.85 333.6 3191 2840 2090 2068 52.0 10.5 550 7479 0.00 2.50 13.52 0.339 8708 0.000 0.077 3199 1434 1955 1952 1959 0 0 0 0 0 0 28.83 14.35 14.21

7524 0.96 394.9 3199 1433 1970 1961 46.1 8.6 562 7564 0.00 2.53 29.08 0.325 9222 0.000 0.102 3199 2848 1705 1699 1711 0 0 0 0 0 0 28.83 14.35 14.16

7859 1.09 459.9 3200 2848 1713 1709 13.6 8.4 598 7899 0.20 2.50 29.62 0.226 10756 0.115 0.077 3285 1434 1440 1437 1443 0 0 0 0 0 0 14.42 14.34 14.26

7903 1.18 587.9 3286 1436 1440 1444 11.1 4.9 604 7973 0.00 2.50 57.40 0.220 9222 0.000 0.101 3285 2841 916 911 922 0 0 0 0 0 0 28.83 14.34 14.20

8277 1.53 780.1 3286 2842 919 915 3.1 1.4 645 8315 0.35 0.00 33.53 0.196 10754 0.090 0.000 3411 2841 619 602 637 0 0 0 0 0 0 14.41 28.83 28.83

8315 end climb: SURFACE_DEPTH_REACHED

state 8315 begin surface coast

8378 end surface coast: CONTROL_FINISHED_OK

state 8379 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	19	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	40	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	20	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	-4697.9688	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	290714,045543,7056.042,-14427.131,14,0.8,34,22.3	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	1.30	MHEAD_RNG_PITCHd_Wd	335.6,74760,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-78.3	D_GRID	1000
GPS2	290714,050545,7056.000,-14427.205,4,0.8,24,22.3

FINISH	0.2,1.007380	_10V_AH	13.27,0.000
SM_CCo	8401,9.65,0.207,0,0,539,681.20	FG_AHR_24Vo	0.000
SM_GC	2.94,9.90,0.22,9.65,0.095,0.098,0.207,200,2701,539,-8.41,1.16,681.20,0,0,0,0,0,0,14.39,14.40,14.28	FG_AHR_10Vo	0.000
RAFOS_CLK	391	MEM	306680
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23344,657
IRIDIUM_FIX	7019.90,-14434.62,290714,022533	CAP_FILE_SIZE	119551,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2088435712
HUMID	47.36	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.60186	INTR	0,9213.68,0x2378b6,7,5
TCM_TEMP	12.90	SOUNDSPEED	1448.0
XPDR_PINGS	7	EKF	8508,4257.201660,-8666.865234,0.202676,-0.177501,0.155940,-0.005769,0.000161,0.001506,0.000099,0.003025,0.003025,0.000050
SC_FREEKB	3929632	CURRENT	0.088,156.08,1
TM_FREEKB	7718524	GPS	290714,072748,7056.820,-14426.329,44,0.8,64,22.3
_24V_AH	13.05,7.508

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	408	133.81	nil	0	0	0.00
Roll_motor	52	126	87.46	nil	0	0	0.00
VBD_pump_during_apogee	554	1751	12680.96	nil	0	0	0.00
VBD_pump_during_surface	9	207	26.11	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	8396	15	1690.85
Iridium_during_xfer	379	180	894.30	TMICL	8446	13	1465.27
Transponder_ping	3	420	17.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.26
TT8	0	0	0.00
LPSleep	6255	2	191.76
TT8_Active	689	9	86.64
TT8_Sampling	1997	28	767.26
TT8_CF8	69	35	32.72
TT8_Kalman	0	0	0.00
Analog_circuits	1677	10	222.60
GPS_charging	0	0	0.00
Compass	984	0	9.80
RAFOS	0	0	0.00
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.70	-145.9	199	2697	461	527	0.0	0.0	0	83	0.00	0.00	-63.58	0.000	16386	0.000	0.000	198	2697	2231	2240	2223	0	0	0	0	0	0	28.83	28.83	28.83
85	-0.70	-145.9	199	2698	2241	2225	4.5	-6.5	6	135	12.25	0.00	-28.40	0.000	18950	0.409	0.000	2673	2697	3915	3976	3855	0	0	0	0	0	0	14.08	28.83	14.47
428	-0.61	-145.9	2672	2696	3977	3859	86.3	-20.2	43	436	0.15	1.92	0.00	0.000	2308	0.311	0.108	2698	3788	3917	3976	3859	0	0	0	0	0	0	14.26	14.36	28.83
590	-0.61	-145.9	2698	3789	3977	3858	116.4	-18.2	75	599	0.00	1.85	0.00	0.000	1030	0.000	0.063	2697	2697	3917	3976	3859	0	0	0	0	0	0	28.83	14.40	28.83
903	-0.61	-145.9	2698	2698	3977	3860	166.2	-14.8	107	907	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2698	3917	3976	3859	0	0	0	0	0	0	28.83	28.83	28.83
1203	-0.66	-145.9	2698	2697	3977	3858	205.1	-12.2	137	1206	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2697	3917	3976	3859	0	0	0	0	0	0	28.83	28.83	28.83
1504	-0.72	-145.9	2698	2698	3977	3859	240.4	-11.2	167	1506	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2698	3916	3975	3858	0	0	0	0	0	0	28.83	28.83	28.83
1803	-0.79	-145.9	2698	2698	3976	3858	273.0	-10.5	183	1807	0.15	0.00	0.00	0.000	4102	0.131	0.000	2648	2697	3916	3975	3858	0	0	0	0	0	0	14.52	28.83	28.83
2103	-0.79	-145.9	2642	2698	3975	3859	313.6	-13.8	193	2106	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2697	3916	3974	3858	0	0	0	0	0	0	28.83	28.83	28.83
2403	-0.79	-145.9	2642	2698	3974	3859	355.2	-13.8	203	2411	0.00	1.92	0.00	0.000	260	0.000	0.114	2632	3790	3915	3973	3858	0	0	0	0	0	0	28.83	14.52	28.83
2455	-0.73	-145.9	2633	3790	3974	3858	363.0	-16.3	213	2465	0.12	1.85	0.00	0.000	3078	0.259	0.064	2665	2694	3916	3974	3858	0	0	0	0	0	0	14.42	14.57	28.83
2770	-0.73	-145.9	2664	2695	3973	3859	401.3	-12.0	225	2773	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2694	3915	3973	3858	0	0	0	0	0	0	28.83	28.83	28.83
3069	-0.73	-145.9	2665	2695	3974	3859	437.4	-12.0	235	3071	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2694	3915	3973	3858	0	0	0	0	0	0	28.83	28.83	28.83
3369	-0.78	-145.9	2666	2695	3973	3859	473.1	-11.9	245	3372	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2694	3915	3972	3858	0	0	0	0	0	0	28.83	28.83	28.83
3609	end dive: TARGET_DEPTH_EXCEEDED
state	3609	begin apogee
3612	-0.13	0.0	2665	2846	3974	3857	501.4	-11.7	253	3742	0.73	0.00	125.47	1.751	10246	0.246	0.000	2857	2847	3317	3338	3296	0	0	0	0	0	0	14.47	28.83	13.17
3744	end apogee: CONTROL_FINISHED_OK
state	3744	begin climb
3745	0.70	145.9	2858	2848	3332	3289	505.1	0.0	257	3885	0.95	0.00	125.47	1.658	10246	0.149	0.000	3131	2847	2710	2718	2703	0	0	0	0	0	0	13.83	28.83	13.05
4179	0.62	145.9	3134	2847	2718	2694	458.3	13.3	272	4181	0.00	0.00	0.00	0.000	6	0.000	0.000	3131	2846	2705	2717	2694	0	0	0	0	0	0	28.83	28.83	28.83
4479	0.53	145.9	3132	2845	2718	2693	417.6	13.4	282	4487	0.20	2.42	0.00	0.000	4612	0.278	0.074	3093	1439	2708	2717	2700	0	0	0	0	0	0	14.18	14.32	28.83
4521	0.60	177.8	3094	1438	2717	2693	412.9	10.2	290	4555	0.00	2.50	27.48	1.513	9222	0.000	0.101	3093	2836	2586	2594	2579	0	0	0	0	0	0	28.83	14.33	13.57
4879	0.60	177.8	3094	2837	2590	2563	369.9	12.2	310	4887	0.00	2.42	0.00	0.000	516	0.000	0.076	3102	1433	2575	2589	2562	0	0	0	0	0	0	28.83	14.33	28.83
4916	0.66	189.2	3103	1434	2591	2563	365.6	11.3	317	4926	0.00	2.53	3.88	1.089	9222	0.000	0.101	3102	2848	2545	2558	2532	0	0	0	0	0	0	28.83	14.33	13.55
5245	0.66	189.2	3103	2849	2585	2544	324.4	12.6	332	5254	0.00	2.50	2.28	0.494	8708	0.000	0.076	3112	1435	2546	2565	2528	0	0	0	0	0	0	28.83	14.40	13.66
5278	0.66	189.2	3112	1437	2577	2542	320.4	12.3	338	5286	0.00	2.50	1.45	0.265	9222	0.000	0.101	3112	2843	2544	2562	2527	0	0	0	0	0	0	28.83	14.40	14.29
5610	0.66	189.2	3113	2845	2585	2538	277.3	13.0	354	5616	0.00	0.00	1.90	0.246	8198	0.000	0.000	3112	2844	2543	2561	2526	0	0	0	0	0	0	28.83	28.83	14.36
5910	0.66	189.2	3113	2844	2585	2536	240.1	12.2	368	5919	0.00	2.47	1.77	0.252	8708	0.000	0.076	3120	1436	2546	2566	2526	0	0	0	0	0	0	28.83	14.48	14.38
5973	0.67	199.5	3121	1436	2580	2539	232.8	11.3	380	5996	0.00	2.47	15.23	1.439	9222	0.000	0.101	3120	2840	2498	2511	2485	0	0	0	0	0	0	28.83	14.46	13.81
6300	0.67	201.0	3120	2840	2506	2477	192.7	11.8	414	6308	0.00	2.40	0.00	0.000	516	0.000	0.076	3128	1434	2490	2504	2477	0	0	0	0	0	0	28.83	14.42	28.83
6322	0.68	222.7	3129	1433	2506	2478	190.4	10.7	418	6352	0.00	2.50	20.60	1.320	9222	0.000	0.101	3128	2842	2401	2409	2393	0	0	0	0	0	0	28.83	14.39	13.78
6646	0.71	264.6	3129	2843	2405	2384	153.9	9.6	452	6691	0.00	2.53	36.33	1.260	8708	0.000	0.077	3138	1440	2228	2232	2224	0	0	0	0	0	0	28.83	14.14	13.66
6725	0.82	294.0	3139	1441	2226	2215	145.8	10.3	465	6762	0.10	2.53	25.35	1.255	11270	0.156	0.101	3180	2839	2107	2107	2108	0	0	0	0	0	0	14.20	14.18	13.58
7056	0.82	294.0	3181	2839	2106	2095	100.8	13.0	500	7064	0.00	2.42	0.00	0.000	516	0.000	0.077	3191	1441	2099	2104	2095	0	0	0	0	0	0	28.83	14.30	28.83
7149	0.83	307.8	3191	1440	2105	2094	89.9	11.2	518	7163	0.00	2.50	4.57	0.377	9222	0.000	0.103	3191	2839	2064	2070	2058	0	0	0	0	0	0	28.83	14.31	14.09
7459	0.85	333.6	3191	2840	2090	2068	52.0	10.5	550	7479	0.00	2.50	13.52	0.339	8708	0.000	0.077	3199	1434	1955	1952	1959	0	0	0	0	0	0	28.83	14.35	14.21
7524	0.96	394.9	3199	1433	1970	1961	46.1	8.6	562	7564	0.00	2.53	29.08	0.325	9222	0.000	0.102	3199	2848	1705	1699	1711	0	0	0	0	0	0	28.83	14.35	14.16
7859	1.09	459.9	3200	2848	1713	1709	13.6	8.4	598	7899	0.20	2.50	29.62	0.226	10756	0.115	0.077	3285	1434	1440	1437	1443	0	0	0	0	0	0	14.42	14.34	14.26
7903	1.18	587.9	3286	1436	1440	1444	11.1	4.9	604	7973	0.00	2.50	57.40	0.220	9222	0.000	0.101	3285	2841	916	911	922	0	0	0	0	0	0	28.83	14.34	14.20
8277	1.53	780.1	3286	2842	919	915	3.1	1.4	645	8315	0.35	0.00	33.53	0.196	10754	0.090	0.000	3411	2841	619	602	637	0	0	0	0	0	0	14.41	28.83	28.83
8315	end climb: SURFACE_DEPTH_REACHED
state	8315	begin surface coast
8378	end surface coast: CONTROL_FINISHED_OK
state	8379	begin surface