Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 21 * 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 21 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 35 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 -4700.4834 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 -4700.4834

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 35 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 21 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 290714,100049,7057.558,-14425.728,53,0.7,73,22.3 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 1.40 MHEAD_RNG_PITCHd_Wd 331.5,71948,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -77.5 D_GRID 1000

GPS2 290714,101109,7057.456,-14425.400,5,0.8,25,22.3

Post-dive calculations and measurements:

FINISH 0.3,1.018524 _10V_AH 13.26,0.000

SM_CCo 8325,35.25,0.207,0,0,540,681.20 FG_AHR_24Vo 0.000

SM_GC 0.85,9.57,2.33,35.25,0.093,0.110,0.207,205,2696,540,-8.41,-0.74,681.20,0,0,0,0,0,0,14.35,14.32,14.23 FG_AHR_10Vo 0.000

RAFOS_CLK 89 MEM 305804

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26729,742

IRIDIUM_FIX 7026.32,-14421.61,290714,073137 CAP_FILE_SIZE 124865,0

TT8_MAMPS 0.043442,0.043442 CFSIZE 2097872896,2087944192

HUMID 45.90 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.6214 INTR 0,9176.30,0x2378b6,7,5

TCM_TEMP 13.60 SOUNDSPEED 1448.9

XPDR_PINGS 5 EKF 8443,4258.575684,-8665.372070,0.330541,-0.133236,0.371708,0.015674,0.000133,0.001255,0.000095,0.001025,0.001025,0.000034

SC_FREEKB 3928736 CURRENT 0.080,154.87,1

TM_FREEKB 7692220 GPS 290714,123207,7058.232,-14424.804,29,0.8,49,22.3

_24V_AH 13.02,8.157

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 400 127.37 nil 0 0 0.00

Roll_motor 66 123 106.96 nil 0 0 0.00

VBD_pump_during_apogee 523 1758 11991.49 nil 0 0 0.00

VBD_pump_during_surface 35 207 95.15 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 8321 15 1660.73

Iridium_during_xfer 392 181 927.18 TMICL 8376 13 1450.77

Transponder_ping 2 420 15.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.37

TT8 0 0 0.00

LPSleep 6000 2 183.80

TT8_Active 724 9 90.98

TT8_Sampling 2180 28 837.02

TT8_CF8 75 35 35.66

TT8_Kalman 0 0 0.00

Analog_circuits 1788 10 237.16

GPS_charging 0 0 0.00

Compass 1102 0 10.96

RAFOS 1492 48 949.63

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 -145.9 176 2705 502 581 0.0 0.0 0 84 0.00 0.00 -63.78 0.000 16386 0.000 0.000 174 2706 2287 2296 2279 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.70 -145.9 175 2706 2297 2280 4.7 -6.6 6 135 12.18 2.45 -28.45 0.000 18948 0.400 0.099 2672 1294 3915 3976 3855 0 0 0 0 0 0 14.08 14.26 14.46

310 -0.61 -145.9 2673 1295 3977 3859 57.0 -20.8 48 318 0.20 2.53 0.00 0.000 3078 0.294 0.102 2706 2703 3917 3976 3858 0 0 0 0 0 0 14.19 14.27 28.83

622 -0.61 -145.9 2706 2704 3977 3861 111.6 -16.7 80 630 0.00 1.92 0.00 0.000 260 0.000 0.109 2699 3790 3917 3976 3859 0 0 0 0 0 0 28.83 14.38 28.83

664 -0.61 -145.9 2700 3790 3978 3859 119.1 -18.0 88 672 0.00 1.85 0.00 0.000 1030 0.000 0.061 2699 2688 3918 3976 3860 0 0 0 0 0 0 28.83 14.43 28.83

976 -0.61 -145.9 2700 2688 3977 3860 167.7 -14.5 120 979 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2687 3917 3976 3859 0 0 0 0 0 0 28.83 28.83 28.83

1276 -0.66 -145.9 2701 2687 3977 3859 206.5 -12.0 150 1285 0.00 1.95 0.00 0.000 260 0.000 0.113 2691 3792 3917 3976 3859 0 0 0 0 0 0 28.83 14.44 28.83

1333 -0.66 -145.9 2691 3792 3977 3859 214.0 -13.4 161 1342 0.00 1.83 0.00 0.000 1030 0.000 0.063 2691 2704 3917 3976 3859 0 0 0 0 0 0 28.83 14.49 28.83

1639 -0.71 -145.9 2692 2705 3976 3860 250.0 -11.3 192 1643 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2704 3917 3975 3859 0 0 0 0 0 0 28.83 28.83 28.83

1949 -0.77 -145.9 2692 2705 3975 3860 285.0 -11.3 203 1959 0.00 1.90 0.00 0.000 260 0.000 0.113 2682 3787 3916 3974 3859 0 0 0 0 0 0 28.83 14.49 28.83

2033 -0.77 -145.9 2683 3786 3974 3859 295.5 -12.4 219 2043 0.00 1.83 0.00 0.000 1030 0.000 0.064 2682 2704 3916 3973 3859 0 0 0 0 0 0 28.83 14.54 28.83

2347 -0.83 -145.9 2683 2704 3974 3860 332.1 -11.5 231 2350 0.12 0.00 0.00 0.000 4102 0.143 0.000 2635 2703 3915 3973 3858 0 0 0 0 0 0 14.53 28.83 28.83

2647 -0.83 -145.9 2634 2704 3974 3860 374.7 -14.2 241 2655 0.00 1.95 0.00 0.000 260 0.000 0.112 2627 3788 3915 3972 3859 0 0 0 0 0 0 28.83 14.51 28.83

2734 -0.76 -145.9 2627 3787 3972 3859 388.5 -16.1 258 2744 0.15 1.77 0.00 0.000 3078 0.286 0.064 2657 2700 3915 3971 3859 0 0 0 0 0 0 14.42 14.56 28.83

3039 -0.76 -145.9 2658 2701 3972 3860 427.0 -12.4 269 3041 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2700 3915 3971 3859 0 0 0 0 0 0 28.83 28.83 28.83

3339 -0.76 -145.9 2658 2701 3972 3860 464.1 -12.3 279 3349 0.00 1.90 0.00 0.000 260 0.000 0.112 2651 3787 3915 3971 3859 0 0 0 0 0 0 28.83 14.54 28.83

3433 -0.76 -145.9 2652 3789 3970 3860 477.1 -14.2 297 3442 0.00 1.83 0.00 0.000 1030 0.000 0.063 2652 2699 3913 3967 3859 0 0 0 0 0 0 28.83 14.58 28.83

3617 end dive: TARGET_DEPTH_EXCEEDED

state 3617 begin apogee

3620 -0.13 0.0 2651 2853 3971 3860 500.2 -12.7 308 3754 0.80 0.00 129.50 1.759 10246 0.250 0.000 2859 2852 3315 3336 3294 0 0 0 0 0 0 14.45 28.83 13.14

3757 end apogee: CONTROL_FINISHED_OK

state 3757 begin climb

3758 0.70 145.9 2860 2852 3330 3285 504.1 0.0 312 3891 0.90 0.00 123.25 1.525 10246 0.148 0.000 3125 2852 2715 2725 2706 0 0 0 0 0 0 13.81 28.83 13.02

4186 0.63 145.9 3131 2853 2718 2693 458.2 13.3 327 4189 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2852 2705 2717 2693 0 0 0 0 0 0 28.83 28.83 28.83

4486 0.56 145.9 3125 2852 2718 2692 418.8 13.0 337 4494 0.15 2.42 0.00 0.000 4612 0.281 0.076 3102 1443 2704 2717 2692 0 0 0 0 0 0 14.22 14.28 28.83

4553 0.58 179.9 3103 1443 2718 2692 411.4 10.1 350 4594 0.00 2.50 28.75 1.496 9222 0.000 0.101 3103 2841 2573 2584 2562 0 0 0 0 0 0 28.83 14.33 13.61

4918 0.58 179.9 3104 2841 2583 2554 365.5 12.7 371 4927 0.00 2.40 0.00 0.000 516 0.000 0.076 3111 1446 2567 2581 2554 0 0 0 0 0 0 28.83 14.33 28.83

4956 0.59 183.0 3112 1447 2583 2554 360.8 11.7 378 4964 0.00 2.50 0.00 0.000 1030 0.000 0.100 3111 2846 2567 2581 2554 0 0 0 0 0 0 28.83 14.32 28.83

5283 0.59 183.0 3110 2845 2578 2553 318.6 12.9 393 5291 0.00 2.40 0.00 0.000 516 0.000 0.075 3119 1437 2570 2581 2560 0 0 0 0 0 0 28.83 14.42 28.83

5334 0.59 183.0 3122 1437 2582 2553 312.3 11.9 403 5344 0.00 2.50 0.00 0.000 1030 0.000 0.101 3119 2843 2566 2582 2551 0 0 0 0 0 0 28.83 14.41 28.83

5648 0.59 183.0 3120 2844 2583 2554 270.6 13.3 415 5658 0.00 2.40 0.00 0.000 516 0.000 0.075 3127 1436 2567 2582 2553 0 0 0 0 0 0 28.83 14.47 28.83

5687 0.59 183.0 3128 1436 2580 2550 265.6 12.2 422 5695 0.00 2.47 0.00 0.000 1030 0.000 0.101 3127 2839 2567 2582 2553 0 0 0 0 0 0 28.83 14.42 28.83

5994 0.59 183.0 3128 2840 2583 2553 224.2 13.4 449 5997 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2838 2567 2581 2553 0 0 0 0 0 0 28.83 28.83 28.83

6294 0.60 201.3 3128 2839 2583 2553 187.9 10.9 479 6323 0.00 2.45 18.20 1.336 8708 0.000 0.076 3138 1450 2483 2492 2475 0 0 0 0 0 0 28.83 14.34 13.85

6387 0.62 238.9 3138 1451 2491 2472 178.3 9.9 496 6428 0.00 2.50 32.12 1.171 9222 0.000 0.101 3143 2849 2333 2335 2331 0 0 0 0 0 0 28.83 14.34 13.72

6735 0.64 264.4 3138 2849 2329 2320 139.1 10.5 533 6764 0.00 2.53 21.70 1.217 8708 0.000 0.075 3146 1443 2229 2231 2227 0 0 0 0 0 0 28.83 14.14 13.71

6809 0.74 300.3 3147 1444 2226 2219 131.7 9.9 546 6852 0.00 2.53 31.48 1.105 9222 0.000 0.101 3147 2841 2079 2079 2080 0 0 0 0 0 0 28.83 14.19 13.61

7156 0.80 315.8 3146 2840 2078 2068 92.3 11.1 583 7173 0.00 2.50 4.85 0.389 8708 0.000 0.076 3154 1446 2036 2045 2028 0 0 0 0 0 0 28.83 14.22 14.02

7243 0.94 364.6 3155 1449 2061 2033 83.4 9.3 599 7279 0.17 2.53 24.77 0.435 11270 0.114 0.103 3218 2847 1829 1820 1838 0 0 0 0 0 0 14.27 14.24 14.00

7583 0.96 394.8 3219 2847 1842 1839 37.7 10.3 635 7605 0.00 1.67 14.98 0.299 8452 0.000 0.106 3218 3787 1705 1701 1710 0 0 0 0 0 0 28.83 14.23 14.12

7643 0.96 394.8 3219 3788 1713 1712 30.2 13.4 646 7653 0.00 1.60 0.00 0.000 1030 0.000 0.061 3222 2847 1711 1712 1711 0 0 0 0 0 0 28.83 14.28 28.83

7949 1.21 604.2 3224 2839 1717 1711 12.5 0.5 677 8053 0.20 2.50 94.07 0.221 10756 0.112 0.078 3306 1438 850 844 857 0 0 0 0 0 0 14.31 14.23 14.14

8231 end climb: SURFACE_DEPTH_REACHED

state 8231 begin surface coast

8301 end surface coast: CONTROL_FINISHED_OK

state 8301 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	21	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	35	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	-4700.4834	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	290714,100049,7057.558,-14425.728,53,0.7,73,22.3	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	1.40	MHEAD_RNG_PITCHd_Wd	331.5,71948,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-77.5	D_GRID	1000
GPS2	290714,101109,7057.456,-14425.400,5,0.8,25,22.3

FINISH	0.3,1.018524	_10V_AH	13.26,0.000
SM_CCo	8325,35.25,0.207,0,0,540,681.20	FG_AHR_24Vo	0.000
SM_GC	0.85,9.57,2.33,35.25,0.093,0.110,0.207,205,2696,540,-8.41,-0.74,681.20,0,0,0,0,0,0,14.35,14.32,14.23	FG_AHR_10Vo	0.000
RAFOS_CLK	89	MEM	305804
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26729,742
IRIDIUM_FIX	7026.32,-14421.61,290714,073137	CAP_FILE_SIZE	124865,0
TT8_MAMPS	0.043442,0.043442	CFSIZE	2097872896,2087944192
HUMID	45.90	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.6214	INTR	0,9176.30,0x2378b6,7,5
TCM_TEMP	13.60	SOUNDSPEED	1448.9
XPDR_PINGS	5	EKF	8443,4258.575684,-8665.372070,0.330541,-0.133236,0.371708,0.015674,0.000133,0.001255,0.000095,0.001025,0.001025,0.000034
SC_FREEKB	3928736	CURRENT	0.080,154.87,1
TM_FREEKB	7692220	GPS	290714,123207,7058.232,-14424.804,29,0.8,49,22.3
_24V_AH	13.02,8.157

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	400	127.37	nil	0	0	0.00
Roll_motor	66	123	106.96	nil	0	0	0.00
VBD_pump_during_apogee	523	1758	11991.49	nil	0	0	0.00
VBD_pump_during_surface	35	207	95.15	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	8321	15	1660.73
Iridium_during_xfer	392	181	927.18	TMICL	8376	13	1450.77
Transponder_ping	2	420	15.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.37
TT8	0	0	0.00
LPSleep	6000	2	183.80
TT8_Active	724	9	90.98
TT8_Sampling	2180	28	837.02
TT8_CF8	75	35	35.66
TT8_Kalman	0	0	0.00
Analog_circuits	1788	10	237.16
GPS_charging	0	0	0.00
Compass	1102	0	10.96
RAFOS	1492	48	949.63
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	176	2705	502	581	0.0	0.0	0	84	0.00	0.00	-63.78	0.000	16386	0.000	0.000	174	2706	2287	2296	2279	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.70	-145.9	175	2706	2297	2280	4.7	-6.6	6	135	12.18	2.45	-28.45	0.000	18948	0.400	0.099	2672	1294	3915	3976	3855	0	0	0	0	0	0	14.08	14.26	14.46
310	-0.61	-145.9	2673	1295	3977	3859	57.0	-20.8	48	318	0.20	2.53	0.00	0.000	3078	0.294	0.102	2706	2703	3917	3976	3858	0	0	0	0	0	0	14.19	14.27	28.83
622	-0.61	-145.9	2706	2704	3977	3861	111.6	-16.7	80	630	0.00	1.92	0.00	0.000	260	0.000	0.109	2699	3790	3917	3976	3859	0	0	0	0	0	0	28.83	14.38	28.83
664	-0.61	-145.9	2700	3790	3978	3859	119.1	-18.0	88	672	0.00	1.85	0.00	0.000	1030	0.000	0.061	2699	2688	3918	3976	3860	0	0	0	0	0	0	28.83	14.43	28.83
976	-0.61	-145.9	2700	2688	3977	3860	167.7	-14.5	120	979	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2687	3917	3976	3859	0	0	0	0	0	0	28.83	28.83	28.83
1276	-0.66	-145.9	2701	2687	3977	3859	206.5	-12.0	150	1285	0.00	1.95	0.00	0.000	260	0.000	0.113	2691	3792	3917	3976	3859	0	0	0	0	0	0	28.83	14.44	28.83
1333	-0.66	-145.9	2691	3792	3977	3859	214.0	-13.4	161	1342	0.00	1.83	0.00	0.000	1030	0.000	0.063	2691	2704	3917	3976	3859	0	0	0	0	0	0	28.83	14.49	28.83
1639	-0.71	-145.9	2692	2705	3976	3860	250.0	-11.3	192	1643	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2704	3917	3975	3859	0	0	0	0	0	0	28.83	28.83	28.83
1949	-0.77	-145.9	2692	2705	3975	3860	285.0	-11.3	203	1959	0.00	1.90	0.00	0.000	260	0.000	0.113	2682	3787	3916	3974	3859	0	0	0	0	0	0	28.83	14.49	28.83
2033	-0.77	-145.9	2683	3786	3974	3859	295.5	-12.4	219	2043	0.00	1.83	0.00	0.000	1030	0.000	0.064	2682	2704	3916	3973	3859	0	0	0	0	0	0	28.83	14.54	28.83
2347	-0.83	-145.9	2683	2704	3974	3860	332.1	-11.5	231	2350	0.12	0.00	0.00	0.000	4102	0.143	0.000	2635	2703	3915	3973	3858	0	0	0	0	0	0	14.53	28.83	28.83
2647	-0.83	-145.9	2634	2704	3974	3860	374.7	-14.2	241	2655	0.00	1.95	0.00	0.000	260	0.000	0.112	2627	3788	3915	3972	3859	0	0	0	0	0	0	28.83	14.51	28.83
2734	-0.76	-145.9	2627	3787	3972	3859	388.5	-16.1	258	2744	0.15	1.77	0.00	0.000	3078	0.286	0.064	2657	2700	3915	3971	3859	0	0	0	0	0	0	14.42	14.56	28.83
3039	-0.76	-145.9	2658	2701	3972	3860	427.0	-12.4	269	3041	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2700	3915	3971	3859	0	0	0	0	0	0	28.83	28.83	28.83
3339	-0.76	-145.9	2658	2701	3972	3860	464.1	-12.3	279	3349	0.00	1.90	0.00	0.000	260	0.000	0.112	2651	3787	3915	3971	3859	0	0	0	0	0	0	28.83	14.54	28.83
3433	-0.76	-145.9	2652	3789	3970	3860	477.1	-14.2	297	3442	0.00	1.83	0.00	0.000	1030	0.000	0.063	2652	2699	3913	3967	3859	0	0	0	0	0	0	28.83	14.58	28.83
3617	end dive: TARGET_DEPTH_EXCEEDED
state	3617	begin apogee
3620	-0.13	0.0	2651	2853	3971	3860	500.2	-12.7	308	3754	0.80	0.00	129.50	1.759	10246	0.250	0.000	2859	2852	3315	3336	3294	0	0	0	0	0	0	14.45	28.83	13.14
3757	end apogee: CONTROL_FINISHED_OK
state	3757	begin climb
3758	0.70	145.9	2860	2852	3330	3285	504.1	0.0	312	3891	0.90	0.00	123.25	1.525	10246	0.148	0.000	3125	2852	2715	2725	2706	0	0	0	0	0	0	13.81	28.83	13.02
4186	0.63	145.9	3131	2853	2718	2693	458.2	13.3	327	4189	0.00	0.00	0.00	0.000	6	0.000	0.000	3122	2852	2705	2717	2693	0	0	0	0	0	0	28.83	28.83	28.83
4486	0.56	145.9	3125	2852	2718	2692	418.8	13.0	337	4494	0.15	2.42	0.00	0.000	4612	0.281	0.076	3102	1443	2704	2717	2692	0	0	0	0	0	0	14.22	14.28	28.83
4553	0.58	179.9	3103	1443	2718	2692	411.4	10.1	350	4594	0.00	2.50	28.75	1.496	9222	0.000	0.101	3103	2841	2573	2584	2562	0	0	0	0	0	0	28.83	14.33	13.61
4918	0.58	179.9	3104	2841	2583	2554	365.5	12.7	371	4927	0.00	2.40	0.00	0.000	516	0.000	0.076	3111	1446	2567	2581	2554	0	0	0	0	0	0	28.83	14.33	28.83
4956	0.59	183.0	3112	1447	2583	2554	360.8	11.7	378	4964	0.00	2.50	0.00	0.000	1030	0.000	0.100	3111	2846	2567	2581	2554	0	0	0	0	0	0	28.83	14.32	28.83
5283	0.59	183.0	3110	2845	2578	2553	318.6	12.9	393	5291	0.00	2.40	0.00	0.000	516	0.000	0.075	3119	1437	2570	2581	2560	0	0	0	0	0	0	28.83	14.42	28.83
5334	0.59	183.0	3122	1437	2582	2553	312.3	11.9	403	5344	0.00	2.50	0.00	0.000	1030	0.000	0.101	3119	2843	2566	2582	2551	0	0	0	0	0	0	28.83	14.41	28.83
5648	0.59	183.0	3120	2844	2583	2554	270.6	13.3	415	5658	0.00	2.40	0.00	0.000	516	0.000	0.075	3127	1436	2567	2582	2553	0	0	0	0	0	0	28.83	14.47	28.83
5687	0.59	183.0	3128	1436	2580	2550	265.6	12.2	422	5695	0.00	2.47	0.00	0.000	1030	0.000	0.101	3127	2839	2567	2582	2553	0	0	0	0	0	0	28.83	14.42	28.83
5994	0.59	183.0	3128	2840	2583	2553	224.2	13.4	449	5997	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2838	2567	2581	2553	0	0	0	0	0	0	28.83	28.83	28.83
6294	0.60	201.3	3128	2839	2583	2553	187.9	10.9	479	6323	0.00	2.45	18.20	1.336	8708	0.000	0.076	3138	1450	2483	2492	2475	0	0	0	0	0	0	28.83	14.34	13.85
6387	0.62	238.9	3138	1451	2491	2472	178.3	9.9	496	6428	0.00	2.50	32.12	1.171	9222	0.000	0.101	3143	2849	2333	2335	2331	0	0	0	0	0	0	28.83	14.34	13.72
6735	0.64	264.4	3138	2849	2329	2320	139.1	10.5	533	6764	0.00	2.53	21.70	1.217	8708	0.000	0.075	3146	1443	2229	2231	2227	0	0	0	0	0	0	28.83	14.14	13.71
6809	0.74	300.3	3147	1444	2226	2219	131.7	9.9	546	6852	0.00	2.53	31.48	1.105	9222	0.000	0.101	3147	2841	2079	2079	2080	0	0	0	0	0	0	28.83	14.19	13.61
7156	0.80	315.8	3146	2840	2078	2068	92.3	11.1	583	7173	0.00	2.50	4.85	0.389	8708	0.000	0.076	3154	1446	2036	2045	2028	0	0	0	0	0	0	28.83	14.22	14.02
7243	0.94	364.6	3155	1449	2061	2033	83.4	9.3	599	7279	0.17	2.53	24.77	0.435	11270	0.114	0.103	3218	2847	1829	1820	1838	0	0	0	0	0	0	14.27	14.24	14.00
7583	0.96	394.8	3219	2847	1842	1839	37.7	10.3	635	7605	0.00	1.67	14.98	0.299	8452	0.000	0.106	3218	3787	1705	1701	1710	0	0	0	0	0	0	28.83	14.23	14.12
7643	0.96	394.8	3219	3788	1713	1712	30.2	13.4	646	7653	0.00	1.60	0.00	0.000	1030	0.000	0.061	3222	2847	1711	1712	1711	0	0	0	0	0	0	28.83	14.28	28.83
7949	1.21	604.2	3224	2839	1717	1711	12.5	0.5	677	8053	0.20	2.50	94.07	0.221	10756	0.112	0.078	3306	1438	850	844	857	0	0	0	0	0	0	14.31	14.23	14.14
8231	end climb: SURFACE_DEPTH_REACHED
state	8231	begin surface coast
8301	end surface coast: CONTROL_FINISHED_OK
state	8301	begin surface