Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 20 * 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 20 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 36 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 19 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 -4699.2266 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 -4699.2266

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 36 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 19 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 20 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 290714,072748,7056.820,-14426.329,44,0.8,64,22.3 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 1.44 MHEAD_RNG_PITCHd_Wd 334.8,73243,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -77.0 D_GRID 1000

GPS2 290714,073812,7056.784,-14426.216,5,0.8,25,22.3

Post-dive calculations and measurements:

FINISH 0.2,1.018064 _10V_AH 12.71,0.000

SM_CCo 8431,4.30,0.216,0,0,538,681.69 FG_AHR_24Vo 0.000

SM_GC 2.70,9.62,0.22,4.30,0.082,0.095,0.216,202,2706,538,-8.41,1.24,681.69,0,0,0,0,0,0,14.33,14.35,14.24 FG_AHR_10Vo 0.000

RAFOS_CLK 340 MEM 306232

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26716,734

IRIDIUM_FIX 7026.32,-14412.41,290714,045922 CAP_FILE_SIZE 121380,0

TT8_MAMPS 0.04494,0.04494 CFSIZE 2097872896,2088206336

HUMID 46.14 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.60186 INTR 0,9147.00,0x2378b6,7,5

TCM_TEMP 12.70 SOUNDSPEED 1449.1

XPDR_PINGS 7 EKF 8542,4257.946289,-8666.458008,0.166976,-0.056197,0.187550,0.000775,0.000145,0.001366,0.000099,0.003025,0.003025,0.000050

SC_FREEKB 3929184 CURRENT 0.096,149.74,1

TM_FREEKB 7705288 GPS 290714,100049,7057.558,-14425.728,53,0.7,73,22.3

_24V_AH 13.04,7.842

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 403 129.57 nil 0 0 0.00

Roll_motor 51 125 83.64 nil 0 0 0.00

VBD_pump_during_apogee 609 1592 12665.58 nil 0 0 0.00

VBD_pump_during_surface 4 215 12.10 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 8431 14 1643.28

Iridium_during_xfer 398 178 926.82 TMICL 8485 13 1469.69

Transponder_ping 3 420 17.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.08

TT8 0 0 0.00

LPSleep 6131 2 180.02

TT8_Active 700 9 84.37

TT8_Sampling 2155 28 793.23

TT8_CF8 72 35 32.87

TT8_Kalman 0 0 0.00

Analog_circuits 1767 10 224.67

GPS_charging 0 0 0.00

Compass 1088 0 10.38

RAFOS 1496 48 912.68

Transponder 13 30 5.02

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 -145.9 196 2701 501 586 0.0 0.0 0 74 0.00 0.00 -53.55 0.000 16386 0.000 0.000 195 2701 1953 1960 1946 0 0 0 0 0 0 28.83 28.83 28.83

76 -0.70 -145.9 196 2703 1961 1947 3.2 -3.7 5 132 12.20 2.50 -36.58 0.000 18948 0.404 0.099 2676 1295 3915 3975 3855 0 0 0 0 0 0 14.07 14.27 14.45

356 -0.63 -145.9 2676 1295 3976 3859 65.0 -19.2 58 367 0.15 2.53 0.00 0.000 3078 0.307 0.101 2696 2701 3917 3975 3859 0 0 0 0 0 0 14.22 14.33 28.83

661 -0.63 -145.9 2698 2702 3975 3860 118.9 -16.9 89 669 0.00 2.42 0.00 0.000 516 0.000 0.075 2696 1289 3917 3975 3859 0 0 0 0 0 0 28.83 14.40 28.83

754 -0.67 -145.9 2697 1289 3975 3861 132.8 -13.9 107 761 0.00 2.53 0.00 0.000 1030 0.000 0.103 2688 2706 3917 3975 3859 0 0 0 0 0 0 28.83 14.40 28.83

1065 -0.67 -145.9 2688 2706 3976 3860 180.5 -14.6 139 1068 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2706 3917 3975 3859 0 0 0 0 0 0 28.83 28.83 28.83

1369 -0.67 -145.9 2688 2706 3976 3859 220.1 -12.4 169 1372 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2706 3915 3975 3856 0 0 0 0 0 0 28.83 28.83 28.83

1679 -0.73 -145.9 2688 2706 3975 3859 257.1 -11.9 196 1687 0.00 1.92 0.00 0.000 260 0.000 0.114 2679 3789 3916 3974 3858 0 0 0 0 0 0 28.83 14.39 28.83

1735 -0.73 -145.9 2679 3790 3976 3859 264.5 -13.3 207 1745 0.00 1.88 0.00 0.000 1030 0.000 0.064 2678 2686 3915 3974 3857 0 0 0 0 0 0 28.83 14.42 28.83

2041 -0.77 -145.9 2680 2685 3974 3858 301.2 -11.9 218 2043 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2686 3915 3973 3857 0 0 0 0 0 0 28.83 28.83 28.83

2341 -0.82 -145.9 2680 2686 3975 3857 336.8 -11.9 228 2344 0.12 0.00 0.00 0.000 4102 0.148 0.000 2634 2685 3915 3973 3857 0 0 0 0 0 0 14.42 28.83 28.83

2640 -0.82 -145.9 2634 2685 3974 3857 380.0 -14.6 238 2650 0.00 2.00 0.00 0.000 260 0.000 0.112 2625 3785 3917 3972 3863 0 0 0 0 0 0 28.83 14.35 28.83

2694 -0.75 -145.9 2626 3787 3972 3858 388.5 -16.0 248 2702 0.17 1.80 0.00 0.000 3078 0.278 0.065 2663 2695 3914 3972 3857 0 0 0 0 0 0 14.29 14.43 28.83

3007 -0.75 -145.9 2663 2694 3973 3857 427.4 -12.1 260 3009 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2694 3914 3971 3857 0 0 0 0 0 0 28.83 28.83 28.83

3308 -0.75 -145.9 2664 2696 3972 3858 463.6 -12.0 270 3310 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2695 3914 3972 3857 0 0 0 0 0 0 28.83 28.83 28.83

3606 -0.75 -145.9 2664 2695 3972 3858 499.7 -11.9 280 3609 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2698 3914 3971 3857 0 0 0 0 0 0 28.83 28.83 28.83

3636 end dive: TARGET_DEPTH_EXCEEDED

state 3637 begin apogee

3640 -0.13 0.0 2663 2847 3973 3857 503.3 -12.0 281 3823 0.75 0.00 179.18 1.593 10246 0.246 0.000 2860 2848 3318 3341 3295 0 0 0 0 0 0 14.42 28.83 13.18

3825 end apogee: CONTROL_FINISHED_OK

state 3825 begin climb

3826 0.70 145.9 2861 2848 3335 3288 509.3 0.0 287 3963 0.90 1.83 122.40 1.478 10500 0.145 0.109 3126 3784 2714 2722 2706 0 0 0 0 0 0 13.76 13.62 13.04

4107 0.55 145.9 3127 3785 2716 2697 481.6 16.2 336 4115 0.15 1.62 0.00 0.000 5126 0.269 0.062 3097 2843 2705 2716 2695 0 0 0 0 0 0 13.90 14.04 28.83

4434 0.56 153.8 3098 2843 2716 2692 443.3 11.5 351 4442 0.00 0.00 1.83 0.239 8710 0.000 0.000 3097 2843 2689 2704 2674 0 0 0 0 0 0 28.83 28.83 14.12

4766 0.56 161.3 3098 2843 2723 2685 405.2 11.5 367 4785 0.00 2.42 12.98 1.577 8708 0.000 0.076 3106 1443 2652 2667 2638 0 0 0 0 0 0 28.83 14.25 13.61

4850 0.58 184.8 3107 1443 2661 2635 395.9 10.6 383 4878 0.00 2.50 21.23 1.503 9222 0.000 0.101 3106 2838 2558 2569 2548 0 0 0 0 0 0 28.83 14.28 13.58

5197 0.58 184.8 3107 2838 2564 2534 351.0 12.9 401 5199 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2838 2547 2562 2532 0 0 0 0 0 0 28.83 28.83 28.83

5497 0.58 184.8 3107 2838 2564 2533 312.4 12.8 411 5505 0.00 2.40 0.00 0.000 516 0.000 0.077 3115 1442 2547 2562 2533 0 0 0 0 0 0 28.83 14.41 28.83

5548 0.58 187.0 3115 1442 2564 2532 306.0 11.8 421 5556 0.00 2.47 0.00 0.000 1030 0.000 0.100 3113 2839 2547 2562 2533 0 0 0 0 0 0 28.83 14.40 28.83

5861 0.58 187.0 3115 2840 2563 2531 264.7 13.2 433 5863 0.00 0.00 0.00 0.000 6 0.000 0.000 3115 2840 2547 2562 2532 0 0 0 0 0 0 28.83 28.83 28.83

6160 0.58 187.0 3115 2840 2560 2531 226.0 12.3 455 6163 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2840 2547 2562 2532 0 0 0 0 0 0 28.83 28.83 28.83

6460 0.59 204.4 3115 2840 2563 2533 191.1 11.0 485 6483 0.00 2.47 16.60 1.416 8708 0.000 0.076 3125 1443 2474 2487 2462 0 0 0 0 0 0 28.83 14.33 13.80

6528 0.68 246.3 3125 1442 2481 2461 184.1 9.6 497 6572 0.00 2.50 36.15 1.288 9222 0.000 0.102 3125 2844 2309 2312 2307 0 0 0 0 0 0 28.83 14.35 13.64

6866 0.73 269.7 3125 2844 2305 2289 146.0 10.6 533 6895 0.00 2.45 20.48 1.268 8708 0.000 0.074 3133 1439 2203 2209 2198 0 0 0 0 0 0 28.83 14.19 13.72

6935 0.87 319.5 3134 1440 2206 2197 139.3 9.2 545 6985 0.17 2.53 42.80 1.139 11270 0.114 0.101 3199 2839 2013 2009 2017 0 0 0 0 0 0 14.26 14.24 13.55

7289 0.87 319.5 3200 2839 1989 1997 85.8 14.3 583 7297 0.00 2.42 0.00 0.000 516 0.000 0.078 3209 1444 1992 1988 1996 0 0 0 0 0 0 28.83 14.28 28.83

7355 0.87 319.5 3209 1443 1988 1997 76.8 13.4 596 7365 0.00 2.50 0.00 0.000 1030 0.000 0.101 3209 2839 1992 1987 1997 0 0 0 0 0 0 28.83 14.30 28.83

7661 0.90 368.4 3210 2840 1988 1999 39.7 9.2 627 7689 0.00 0.00 19.55 0.308 8454 0.000 0.000 3209 2839 1815 1805 1825 0 0 0 0 0 0 28.83 28.83 14.20

7983 1.07 495.6 3219 2840 1826 1826 11.7 5.0 661 8054 0.12 2.42 57.60 0.224 10756 0.144 0.078 3272 1441 1290 1287 1293 0 0 0 0 0 0 14.42 14.33 14.24

8278 1.36 671.8 3273 1442 1299 1283 6.3 2.3 716 8366 0.22 2.50 79.05 0.198 11270 0.108 0.101 3357 2845 574 558 591 0 0 0 0 0 0 14.38 14.35 14.21

8380 end climb: SURFACE_DEPTH_REACHED

state 8380 begin surface coast

8410 end surface coast: CONTROL_FINISHED_OK

state 8410 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	20	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	36	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	19	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	-4699.2266	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	290714,072748,7056.820,-14426.329,44,0.8,64,22.3	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	1.44	MHEAD_RNG_PITCHd_Wd	334.8,73243,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-77.0	D_GRID	1000
GPS2	290714,073812,7056.784,-14426.216,5,0.8,25,22.3

FINISH	0.2,1.018064	_10V_AH	12.71,0.000
SM_CCo	8431,4.30,0.216,0,0,538,681.69	FG_AHR_24Vo	0.000
SM_GC	2.70,9.62,0.22,4.30,0.082,0.095,0.216,202,2706,538,-8.41,1.24,681.69,0,0,0,0,0,0,14.33,14.35,14.24	FG_AHR_10Vo	0.000
RAFOS_CLK	340	MEM	306232
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26716,734
IRIDIUM_FIX	7026.32,-14412.41,290714,045922	CAP_FILE_SIZE	121380,0
TT8_MAMPS	0.04494,0.04494	CFSIZE	2097872896,2088206336
HUMID	46.14	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.60186	INTR	0,9147.00,0x2378b6,7,5
TCM_TEMP	12.70	SOUNDSPEED	1449.1
XPDR_PINGS	7	EKF	8542,4257.946289,-8666.458008,0.166976,-0.056197,0.187550,0.000775,0.000145,0.001366,0.000099,0.003025,0.003025,0.000050
SC_FREEKB	3929184	CURRENT	0.096,149.74,1
TM_FREEKB	7705288	GPS	290714,100049,7057.558,-14425.728,53,0.7,73,22.3
_24V_AH	13.04,7.842

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	403	129.57	nil	0	0	0.00
Roll_motor	51	125	83.64	nil	0	0	0.00
VBD_pump_during_apogee	609	1592	12665.58	nil	0	0	0.00
VBD_pump_during_surface	4	215	12.10	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	8431	14	1643.28
Iridium_during_xfer	398	178	926.82	TMICL	8485	13	1469.69
Transponder_ping	3	420	17.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.08
TT8	0	0	0.00
LPSleep	6131	2	180.02
TT8_Active	700	9	84.37
TT8_Sampling	2155	28	793.23
TT8_CF8	72	35	32.87
TT8_Kalman	0	0	0.00
Analog_circuits	1767	10	224.67
GPS_charging	0	0	0.00
Compass	1088	0	10.38
RAFOS	1496	48	912.68
Transponder	13	30	5.02

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	196	2701	501	586	0.0	0.0	0	74	0.00	0.00	-53.55	0.000	16386	0.000	0.000	195	2701	1953	1960	1946	0	0	0	0	0	0	28.83	28.83	28.83
76	-0.70	-145.9	196	2703	1961	1947	3.2	-3.7	5	132	12.20	2.50	-36.58	0.000	18948	0.404	0.099	2676	1295	3915	3975	3855	0	0	0	0	0	0	14.07	14.27	14.45
356	-0.63	-145.9	2676	1295	3976	3859	65.0	-19.2	58	367	0.15	2.53	0.00	0.000	3078	0.307	0.101	2696	2701	3917	3975	3859	0	0	0	0	0	0	14.22	14.33	28.83
661	-0.63	-145.9	2698	2702	3975	3860	118.9	-16.9	89	669	0.00	2.42	0.00	0.000	516	0.000	0.075	2696	1289	3917	3975	3859	0	0	0	0	0	0	28.83	14.40	28.83
754	-0.67	-145.9	2697	1289	3975	3861	132.8	-13.9	107	761	0.00	2.53	0.00	0.000	1030	0.000	0.103	2688	2706	3917	3975	3859	0	0	0	0	0	0	28.83	14.40	28.83
1065	-0.67	-145.9	2688	2706	3976	3860	180.5	-14.6	139	1068	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2706	3917	3975	3859	0	0	0	0	0	0	28.83	28.83	28.83
1369	-0.67	-145.9	2688	2706	3976	3859	220.1	-12.4	169	1372	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2706	3915	3975	3856	0	0	0	0	0	0	28.83	28.83	28.83
1679	-0.73	-145.9	2688	2706	3975	3859	257.1	-11.9	196	1687	0.00	1.92	0.00	0.000	260	0.000	0.114	2679	3789	3916	3974	3858	0	0	0	0	0	0	28.83	14.39	28.83
1735	-0.73	-145.9	2679	3790	3976	3859	264.5	-13.3	207	1745	0.00	1.88	0.00	0.000	1030	0.000	0.064	2678	2686	3915	3974	3857	0	0	0	0	0	0	28.83	14.42	28.83
2041	-0.77	-145.9	2680	2685	3974	3858	301.2	-11.9	218	2043	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2686	3915	3973	3857	0	0	0	0	0	0	28.83	28.83	28.83
2341	-0.82	-145.9	2680	2686	3975	3857	336.8	-11.9	228	2344	0.12	0.00	0.00	0.000	4102	0.148	0.000	2634	2685	3915	3973	3857	0	0	0	0	0	0	14.42	28.83	28.83
2640	-0.82	-145.9	2634	2685	3974	3857	380.0	-14.6	238	2650	0.00	2.00	0.00	0.000	260	0.000	0.112	2625	3785	3917	3972	3863	0	0	0	0	0	0	28.83	14.35	28.83
2694	-0.75	-145.9	2626	3787	3972	3858	388.5	-16.0	248	2702	0.17	1.80	0.00	0.000	3078	0.278	0.065	2663	2695	3914	3972	3857	0	0	0	0	0	0	14.29	14.43	28.83
3007	-0.75	-145.9	2663	2694	3973	3857	427.4	-12.1	260	3009	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2694	3914	3971	3857	0	0	0	0	0	0	28.83	28.83	28.83
3308	-0.75	-145.9	2664	2696	3972	3858	463.6	-12.0	270	3310	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2695	3914	3972	3857	0	0	0	0	0	0	28.83	28.83	28.83
3606	-0.75	-145.9	2664	2695	3972	3858	499.7	-11.9	280	3609	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2698	3914	3971	3857	0	0	0	0	0	0	28.83	28.83	28.83
3636	end dive: TARGET_DEPTH_EXCEEDED
state	3637	begin apogee
3640	-0.13	0.0	2663	2847	3973	3857	503.3	-12.0	281	3823	0.75	0.00	179.18	1.593	10246	0.246	0.000	2860	2848	3318	3341	3295	0	0	0	0	0	0	14.42	28.83	13.18
3825	end apogee: CONTROL_FINISHED_OK
state	3825	begin climb
3826	0.70	145.9	2861	2848	3335	3288	509.3	0.0	287	3963	0.90	1.83	122.40	1.478	10500	0.145	0.109	3126	3784	2714	2722	2706	0	0	0	0	0	0	13.76	13.62	13.04
4107	0.55	145.9	3127	3785	2716	2697	481.6	16.2	336	4115	0.15	1.62	0.00	0.000	5126	0.269	0.062	3097	2843	2705	2716	2695	0	0	0	0	0	0	13.90	14.04	28.83
4434	0.56	153.8	3098	2843	2716	2692	443.3	11.5	351	4442	0.00	0.00	1.83	0.239	8710	0.000	0.000	3097	2843	2689	2704	2674	0	0	0	0	0	0	28.83	28.83	14.12
4766	0.56	161.3	3098	2843	2723	2685	405.2	11.5	367	4785	0.00	2.42	12.98	1.577	8708	0.000	0.076	3106	1443	2652	2667	2638	0	0	0	0	0	0	28.83	14.25	13.61
4850	0.58	184.8	3107	1443	2661	2635	395.9	10.6	383	4878	0.00	2.50	21.23	1.503	9222	0.000	0.101	3106	2838	2558	2569	2548	0	0	0	0	0	0	28.83	14.28	13.58
5197	0.58	184.8	3107	2838	2564	2534	351.0	12.9	401	5199	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	2838	2547	2562	2532	0	0	0	0	0	0	28.83	28.83	28.83
5497	0.58	184.8	3107	2838	2564	2533	312.4	12.8	411	5505	0.00	2.40	0.00	0.000	516	0.000	0.077	3115	1442	2547	2562	2533	0	0	0	0	0	0	28.83	14.41	28.83
5548	0.58	187.0	3115	1442	2564	2532	306.0	11.8	421	5556	0.00	2.47	0.00	0.000	1030	0.000	0.100	3113	2839	2547	2562	2533	0	0	0	0	0	0	28.83	14.40	28.83
5861	0.58	187.0	3115	2840	2563	2531	264.7	13.2	433	5863	0.00	0.00	0.00	0.000	6	0.000	0.000	3115	2840	2547	2562	2532	0	0	0	0	0	0	28.83	28.83	28.83
6160	0.58	187.0	3115	2840	2560	2531	226.0	12.3	455	6163	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2840	2547	2562	2532	0	0	0	0	0	0	28.83	28.83	28.83
6460	0.59	204.4	3115	2840	2563	2533	191.1	11.0	485	6483	0.00	2.47	16.60	1.416	8708	0.000	0.076	3125	1443	2474	2487	2462	0	0	0	0	0	0	28.83	14.33	13.80
6528	0.68	246.3	3125	1442	2481	2461	184.1	9.6	497	6572	0.00	2.50	36.15	1.288	9222	0.000	0.102	3125	2844	2309	2312	2307	0	0	0	0	0	0	28.83	14.35	13.64
6866	0.73	269.7	3125	2844	2305	2289	146.0	10.6	533	6895	0.00	2.45	20.48	1.268	8708	0.000	0.074	3133	1439	2203	2209	2198	0	0	0	0	0	0	28.83	14.19	13.72
6935	0.87	319.5	3134	1440	2206	2197	139.3	9.2	545	6985	0.17	2.53	42.80	1.139	11270	0.114	0.101	3199	2839	2013	2009	2017	0	0	0	0	0	0	14.26	14.24	13.55
7289	0.87	319.5	3200	2839	1989	1997	85.8	14.3	583	7297	0.00	2.42	0.00	0.000	516	0.000	0.078	3209	1444	1992	1988	1996	0	0	0	0	0	0	28.83	14.28	28.83
7355	0.87	319.5	3209	1443	1988	1997	76.8	13.4	596	7365	0.00	2.50	0.00	0.000	1030	0.000	0.101	3209	2839	1992	1987	1997	0	0	0	0	0	0	28.83	14.30	28.83
7661	0.90	368.4	3210	2840	1988	1999	39.7	9.2	627	7689	0.00	0.00	19.55	0.308	8454	0.000	0.000	3209	2839	1815	1805	1825	0	0	0	0	0	0	28.83	28.83	14.20
7983	1.07	495.6	3219	2840	1826	1826	11.7	5.0	661	8054	0.12	2.42	57.60	0.224	10756	0.144	0.078	3272	1441	1290	1287	1293	0	0	0	0	0	0	14.42	14.33	14.24
8278	1.36	671.8	3273	1442	1299	1283	6.3	2.3	716	8366	0.22	2.50	79.05	0.198	11270	0.108	0.101	3357	2845	574	558	591	0	0	0	0	0	0	14.38	14.35	14.21
8380	end climb: SURFACE_DEPTH_REACHED
state	8380	begin surface coast
8410	end surface coast: CONTROL_FINISHED_OK
state	8410	begin surface