Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 22 * 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 22 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 38 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 15 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 -4701.7432 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 -4701.7432

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 38 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 15 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 22 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 290714,123207,7058.232,-14424.804,29,0.8,49,22.3 SPEED_LIMITS 0.206,0.254

_CALLS 2 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.43 MHEAD_RNG_PITCHd_Wd 335.0,70820,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -77.0 D_GRID 1000

GPS2 290714,124532,7058.039,-14424.609,5,0.8,25,22.3

Post-dive calculations and measurements:

FINISH 0.2,1.009902 _10V_AH 12.73,0.000

SM_CCo 8627,9.98,0.204,0,0,539,681.20 FG_AHR_24Vo 0.000

SM_GC 2.55,9.32,0.20,9.98,0.073,0.103,0.204,204,2706,539,-8.41,1.19,681.20,0,0,0,0,0,0,14.37,14.38,14.27 FG_AHR_10Vo 0.000

RAFOS_CLK 390 MEM 305328

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26710,748

IRIDIUM_FIX 7026.32,-14426.97,290714,123548 CAP_FILE_SIZE 129484,0

TT8_MAMPS 0.043442,0.043442 CFSIZE 2097872896,2087682048

HUMID 47.51 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.61163 INTR 0,9262.34,0x2378b6,7,5

TCM_TEMP 12.80 SOUNDSPEED 1449.3

XPDR_PINGS 3 EKF 8703,4259.156250,-8664.511719,0.176785,-0.320685,0.382601,-0.023076,0.000144,0.001352,0.000099,0.000025,0.000025,0.000050

SC_FREEKB 3928288 CURRENT 0.050,162.95,1

TM_FREEKB 7678680 GPS 290714,151050,7058.913,-14424.235,13,0.9,33,22.4

_24V_AH 13.09,8.458

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 403 132.05 nil 0 0 0.00

Roll_motor 58 126 95.83 nil 0 0 0.00

VBD_pump_during_apogee 575 1584 11931.48 nil 0 0 0.00

VBD_pump_during_surface 9 204 26.67 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 8627 15 1729.71

Iridium_during_xfer 515 175 1187.35 TMICL 8681 13 1514.06

Transponder_ping 2 420 12.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.03

TT8 0 0 0.00

LPSleep 6359 2 187.00

TT8_Active 697 9 84.05

TT8_Sampling 2306 28 850.08

TT8_CF8 78 35 35.47

TT8_Kalman 0 0 0.00

Analog_circuits 1891 10 240.80

GPS_charging 0 0 0.00

Compass 1115 0 10.65

RAFOS 0 0 0.00

Transponder 13 30 5.20

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 -145.9 173 2705 494 579 0.0 0.0 0 74 0.00 0.00 -53.58 0.000 16386 0.000 0.000 170 2700 1945 1953 1937 0 0 0 0 0 0 28.83 28.83 28.83

76 -0.70 -145.9 171 2701 1954 1939 3.1 -3.7 5 132 12.32 2.50 -37.83 0.000 18948 0.404 0.096 2672 1287 3912 3975 3850 0 0 0 0 0 0 14.08 14.27 14.49

181 -0.55 -145.9 2673 1286 3976 3855 26.5 -21.3 23 192 0.28 2.55 0.00 0.000 3078 0.301 0.099 2723 2707 3917 3980 3855 0 0 0 0 0 0 14.16 14.26 28.83

495 -0.55 -145.9 2724 2708 3975 3858 86.4 -16.0 55 505 0.00 1.90 0.00 0.000 260 0.000 0.109 2716 3786 3914 3975 3854 0 0 0 0 0 0 28.83 14.36 28.83

639 -0.55 -145.9 2718 3787 3976 3859 110.8 -16.5 83 649 0.00 1.80 0.00 0.000 1030 0.000 0.060 2717 2685 3916 3975 3858 0 0 0 0 0 0 28.83 14.40 28.83

953 -0.60 -145.9 2717 2685 3976 3858 156.3 -13.6 115 956 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2685 3916 3975 3858 0 0 0 0 0 0 28.83 28.83 28.83

1253 -0.67 -145.9 2717 2685 3976 3857 192.7 -11.2 145 1256 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2685 3916 3975 3858 0 0 0 0 0 0 28.83 28.83 28.83

1553 -0.76 -145.9 2718 2686 3975 3859 224.9 -10.3 175 1556 0.17 0.00 0.00 0.000 4102 0.119 0.000 2650 2685 3915 3974 3857 0 0 0 0 0 0 14.48 28.83 28.83

1863 -0.76 -145.9 2650 2687 3973 3858 267.9 -14.0 198 1865 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2685 3915 3973 3857 0 0 0 0 0 0 28.83 28.83 28.83

2163 -0.76 -145.9 2649 2686 3973 3858 308.9 -13.7 208 2171 0.00 1.98 0.00 0.000 260 0.000 0.112 2641 3782 3914 3971 3857 0 0 0 0 0 0 28.83 14.52 28.83

2210 -0.71 -145.9 2641 3782 3971 3857 315.9 -15.5 217 2218 0.12 1.80 0.00 0.000 3078 0.256 0.063 2672 2707 3914 3971 3858 0 0 0 0 0 0 14.40 14.52 28.83

2527 -0.76 -145.9 2674 2711 3972 3857 354.5 -11.8 230 2530 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2711 3913 3970 3857 0 0 0 0 0 0 28.83 28.83 28.83

2827 -0.80 -145.9 2673 2711 3971 3857 389.8 -11.7 240 2830 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2710 3913 3970 3857 0 0 0 0 0 0 28.83 28.83 28.83

3128 -0.84 -145.9 2674 2711 3971 3857 424.3 -11.3 250 3130 0.12 0.00 0.00 0.000 4102 0.148 0.000 2629 2711 3913 3971 3855 0 0 0 0 0 0 14.57 28.83 28.83

3427 -0.84 -145.9 2630 2711 3971 3866 465.8 -13.9 260 3435 0.00 1.90 0.00 0.000 260 0.000 0.111 2620 3793 3913 3970 3856 0 0 0 0 0 0 28.83 14.53 28.83

3489 -0.77 -145.9 2621 3794 3970 3857 475.5 -15.9 272 3497 0.17 1.80 0.00 0.000 3078 0.278 0.063 2658 2690 3911 3967 3856 0 0 0 0 0 0 14.45 14.59 28.83

3701 end dive: TARGET_DEPTH_EXCEEDED

state 3702 begin apogee

3704 -0.13 0.0 2659 2846 3970 3856 501.4 -11.9 284 3885 0.75 0.00 171.30 1.580 10246 0.246 0.000 2856 2847 3313 3336 3290 0 0 0 0 0 0 14.45 28.83 13.21

3888 end apogee: CONTROL_FINISHED_OK

state 3888 begin climb

3889 0.70 145.9 2857 2847 3336 3289 507.0 0.0 290 4025 0.90 1.75 121.85 1.441 10500 0.148 0.106 3123 3785 2710 2718 2703 0 0 0 0 0 0 13.81 13.64 13.09

4135 0.56 145.9 3124 3785 2714 2696 483.3 15.6 332 4143 0.17 1.60 0.00 0.000 5126 0.293 0.062 3095 2835 2705 2715 2695 0 0 0 0 0 0 13.88 14.02 28.83

4466 0.56 145.9 3095 2835 2716 2694 443.1 11.9 348 4474 0.00 2.40 0.00 0.000 516 0.000 0.076 3103 1445 2704 2716 2693 0 0 0 0 0 0 28.83 14.23 28.83

4498 0.57 159.1 3104 1446 2717 2694 439.6 11.2 354 4519 0.00 2.50 11.07 1.584 9222 0.000 0.101 3103 2837 2661 2674 2649 0 0 0 0 0 0 28.83 14.25 13.53

4833 0.57 159.1 3104 2837 2674 2643 398.1 12.4 370 4841 0.00 2.42 0.00 0.000 516 0.000 0.075 3112 1437 2658 2673 2643 0 0 0 0 0 0 28.83 14.33 28.83

4875 0.58 165.7 3113 1436 2673 2643 393.2 11.5 378 4883 0.00 2.50 1.92 0.262 9222 0.000 0.099 3112 2840 2641 2657 2626 0 0 0 0 0 0 28.83 14.33 14.19

5197 0.58 165.7 3113 2841 2678 2638 351.9 12.8 392 5203 0.00 0.00 1.88 0.262 8198 0.000 0.000 3112 2841 2640 2656 2624 0 0 0 0 0 0 28.83 28.83 14.27

5497 0.58 165.7 3113 2841 2679 2635 314.3 12.4 402 5506 0.00 2.45 1.60 0.257 8708 0.000 0.075 3121 1443 2644 2663 2625 0 0 0 0 0 0 28.83 14.45 14.34

5550 0.58 165.7 3122 1443 2672 2633 308.1 11.9 412 5558 0.00 2.47 1.27 0.273 9222 0.000 0.101 3121 2845 2642 2659 2625 0 0 0 0 0 0 28.83 14.45 14.33

5863 0.53 165.7 3122 2847 2679 2633 268.3 12.8 424 5868 0.17 0.00 1.55 0.255 12294 0.271 0.000 3083 2845 2641 2659 2624 0 0 0 0 0 0 14.39 28.83 14.37

6162 0.55 199.7 3084 2845 2679 2633 237.6 10.1 442 6206 0.00 2.50 34.80 1.313 8708 0.000 0.076 3092 1445 2491 2501 2481 0 0 0 0 0 0 28.83 14.26 13.72

6270 0.67 237.0 3093 1446 2498 2479 226.5 9.9 461 6311 0.00 2.53 31.85 1.203 9222 0.000 0.101 3089 2851 2339 2344 2335 0 0 0 0 0 0 28.83 14.28 13.66

6615 0.75 257.2 3092 2852 2341 2327 187.0 10.8 498 6638 0.17 2.53 16.73 1.311 10756 0.121 0.076 3167 1443 2261 2265 2258 0 0 0 0 0 0 14.35 14.21 13.74

6712 0.75 257.2 3168 1443 2259 2251 174.0 13.6 516 6720 0.00 2.53 0.00 0.000 1030 0.000 0.099 3167 2842 2254 2259 2249 0 0 0 0 0 0 28.83 14.26 28.83

7024 0.75 257.2 3167 2843 2260 2249 131.4 12.4 548 7033 0.00 2.40 0.00 0.000 516 0.000 0.075 3177 1443 2252 2260 2245 0 0 0 0 0 0 28.83 14.37 28.83

7061 0.75 257.2 3178 1443 2260 2248 126.8 12.3 555 7073 0.00 2.50 0.00 0.000 1030 0.000 0.100 3177 2846 2253 2261 2246 0 0 0 0 0 0 28.83 14.36 28.83

7367 0.75 257.2 3178 2847 2264 2246 90.2 12.0 586 7376 0.00 2.40 0.00 0.000 516 0.000 0.075 3185 1444 2253 2261 2245 0 0 0 0 0 0 28.83 14.40 28.83

7450 0.77 292.9 3186 1443 2261 2246 81.3 10.0 602 7473 0.00 2.47 14.50 0.422 9222 0.000 0.101 3186 2839 2123 2125 2122 0 0 0 0 0 0 28.83 14.39 14.16

7777 0.84 382.0 3187 2836 2148 2121 48.2 7.0 636 7822 0.00 0.00 41.08 0.330 8454 0.000 0.000 3186 2839 1757 1751 1764 0 0 0 0 0 0 28.83 28.83 14.19

8117 0.98 449.5 3186 2840 1763 1764 18.6 8.2 671 8154 0.12 1.75 30.40 0.239 10500 0.144 0.111 3233 3787 1481 1477 1486 0 0 0 0 0 0 14.45 14.35 14.24

8378 1.22 659.7 3234 3788 1485 1486 10.8 0.5 720 8480 0.15 1.60 93.53 0.216 11270 0.083 0.063 3297 2833 624 612 636 0 0 0 0 0 0 14.41 14.43 14.22

8573 end climb: SURFACE_DEPTH_REACHED

state 8573 begin surface coast

8604 end surface coast: CONTROL_FINISHED_OK

state 8604 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	22	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	38	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	15	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	-4701.7432	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	290714,123207,7058.232,-14424.804,29,0.8,49,22.3	SPEED_LIMITS	0.206,0.254
_CALLS	2	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.43	MHEAD_RNG_PITCHd_Wd	335.0,70820,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-77.0	D_GRID	1000
GPS2	290714,124532,7058.039,-14424.609,5,0.8,25,22.3

FINISH	0.2,1.009902	_10V_AH	12.73,0.000
SM_CCo	8627,9.98,0.204,0,0,539,681.20	FG_AHR_24Vo	0.000
SM_GC	2.55,9.32,0.20,9.98,0.073,0.103,0.204,204,2706,539,-8.41,1.19,681.20,0,0,0,0,0,0,14.37,14.38,14.27	FG_AHR_10Vo	0.000
RAFOS_CLK	390	MEM	305328
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26710,748
IRIDIUM_FIX	7026.32,-14426.97,290714,123548	CAP_FILE_SIZE	129484,0
TT8_MAMPS	0.043442,0.043442	CFSIZE	2097872896,2087682048
HUMID	47.51	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.61163	INTR	0,9262.34,0x2378b6,7,5
TCM_TEMP	12.80	SOUNDSPEED	1449.3
XPDR_PINGS	3	EKF	8703,4259.156250,-8664.511719,0.176785,-0.320685,0.382601,-0.023076,0.000144,0.001352,0.000099,0.000025,0.000025,0.000050
SC_FREEKB	3928288	CURRENT	0.050,162.95,1
TM_FREEKB	7678680	GPS	290714,151050,7058.913,-14424.235,13,0.9,33,22.4
_24V_AH	13.09,8.458

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	403	132.05	nil	0	0	0.00
Roll_motor	58	126	95.83	nil	0	0	0.00
VBD_pump_during_apogee	575	1584	11931.48	nil	0	0	0.00
VBD_pump_during_surface	9	204	26.67	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	8627	15	1729.71
Iridium_during_xfer	515	175	1187.35	TMICL	8681	13	1514.06
Transponder_ping	2	420	12.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.03
TT8	0	0	0.00
LPSleep	6359	2	187.00
TT8_Active	697	9	84.05
TT8_Sampling	2306	28	850.08
TT8_CF8	78	35	35.47
TT8_Kalman	0	0	0.00
Analog_circuits	1891	10	240.80
GPS_charging	0	0	0.00
Compass	1115	0	10.65
RAFOS	0	0	0.00
Transponder	13	30	5.20

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	173	2705	494	579	0.0	0.0	0	74	0.00	0.00	-53.58	0.000	16386	0.000	0.000	170	2700	1945	1953	1937	0	0	0	0	0	0	28.83	28.83	28.83
76	-0.70	-145.9	171	2701	1954	1939	3.1	-3.7	5	132	12.32	2.50	-37.83	0.000	18948	0.404	0.096	2672	1287	3912	3975	3850	0	0	0	0	0	0	14.08	14.27	14.49
181	-0.55	-145.9	2673	1286	3976	3855	26.5	-21.3	23	192	0.28	2.55	0.00	0.000	3078	0.301	0.099	2723	2707	3917	3980	3855	0	0	0	0	0	0	14.16	14.26	28.83
495	-0.55	-145.9	2724	2708	3975	3858	86.4	-16.0	55	505	0.00	1.90	0.00	0.000	260	0.000	0.109	2716	3786	3914	3975	3854	0	0	0	0	0	0	28.83	14.36	28.83
639	-0.55	-145.9	2718	3787	3976	3859	110.8	-16.5	83	649	0.00	1.80	0.00	0.000	1030	0.000	0.060	2717	2685	3916	3975	3858	0	0	0	0	0	0	28.83	14.40	28.83
953	-0.60	-145.9	2717	2685	3976	3858	156.3	-13.6	115	956	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2685	3916	3975	3858	0	0	0	0	0	0	28.83	28.83	28.83
1253	-0.67	-145.9	2717	2685	3976	3857	192.7	-11.2	145	1256	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2685	3916	3975	3858	0	0	0	0	0	0	28.83	28.83	28.83
1553	-0.76	-145.9	2718	2686	3975	3859	224.9	-10.3	175	1556	0.17	0.00	0.00	0.000	4102	0.119	0.000	2650	2685	3915	3974	3857	0	0	0	0	0	0	14.48	28.83	28.83
1863	-0.76	-145.9	2650	2687	3973	3858	267.9	-14.0	198	1865	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2685	3915	3973	3857	0	0	0	0	0	0	28.83	28.83	28.83
2163	-0.76	-145.9	2649	2686	3973	3858	308.9	-13.7	208	2171	0.00	1.98	0.00	0.000	260	0.000	0.112	2641	3782	3914	3971	3857	0	0	0	0	0	0	28.83	14.52	28.83
2210	-0.71	-145.9	2641	3782	3971	3857	315.9	-15.5	217	2218	0.12	1.80	0.00	0.000	3078	0.256	0.063	2672	2707	3914	3971	3858	0	0	0	0	0	0	14.40	14.52	28.83
2527	-0.76	-145.9	2674	2711	3972	3857	354.5	-11.8	230	2530	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2711	3913	3970	3857	0	0	0	0	0	0	28.83	28.83	28.83
2827	-0.80	-145.9	2673	2711	3971	3857	389.8	-11.7	240	2830	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2710	3913	3970	3857	0	0	0	0	0	0	28.83	28.83	28.83
3128	-0.84	-145.9	2674	2711	3971	3857	424.3	-11.3	250	3130	0.12	0.00	0.00	0.000	4102	0.148	0.000	2629	2711	3913	3971	3855	0	0	0	0	0	0	14.57	28.83	28.83
3427	-0.84	-145.9	2630	2711	3971	3866	465.8	-13.9	260	3435	0.00	1.90	0.00	0.000	260	0.000	0.111	2620	3793	3913	3970	3856	0	0	0	0	0	0	28.83	14.53	28.83
3489	-0.77	-145.9	2621	3794	3970	3857	475.5	-15.9	272	3497	0.17	1.80	0.00	0.000	3078	0.278	0.063	2658	2690	3911	3967	3856	0	0	0	0	0	0	14.45	14.59	28.83
3701	end dive: TARGET_DEPTH_EXCEEDED
state	3702	begin apogee
3704	-0.13	0.0	2659	2846	3970	3856	501.4	-11.9	284	3885	0.75	0.00	171.30	1.580	10246	0.246	0.000	2856	2847	3313	3336	3290	0	0	0	0	0	0	14.45	28.83	13.21
3888	end apogee: CONTROL_FINISHED_OK
state	3888	begin climb
3889	0.70	145.9	2857	2847	3336	3289	507.0	0.0	290	4025	0.90	1.75	121.85	1.441	10500	0.148	0.106	3123	3785	2710	2718	2703	0	0	0	0	0	0	13.81	13.64	13.09
4135	0.56	145.9	3124	3785	2714	2696	483.3	15.6	332	4143	0.17	1.60	0.00	0.000	5126	0.293	0.062	3095	2835	2705	2715	2695	0	0	0	0	0	0	13.88	14.02	28.83
4466	0.56	145.9	3095	2835	2716	2694	443.1	11.9	348	4474	0.00	2.40	0.00	0.000	516	0.000	0.076	3103	1445	2704	2716	2693	0	0	0	0	0	0	28.83	14.23	28.83
4498	0.57	159.1	3104	1446	2717	2694	439.6	11.2	354	4519	0.00	2.50	11.07	1.584	9222	0.000	0.101	3103	2837	2661	2674	2649	0	0	0	0	0	0	28.83	14.25	13.53
4833	0.57	159.1	3104	2837	2674	2643	398.1	12.4	370	4841	0.00	2.42	0.00	0.000	516	0.000	0.075	3112	1437	2658	2673	2643	0	0	0	0	0	0	28.83	14.33	28.83
4875	0.58	165.7	3113	1436	2673	2643	393.2	11.5	378	4883	0.00	2.50	1.92	0.262	9222	0.000	0.099	3112	2840	2641	2657	2626	0	0	0	0	0	0	28.83	14.33	14.19
5197	0.58	165.7	3113	2841	2678	2638	351.9	12.8	392	5203	0.00	0.00	1.88	0.262	8198	0.000	0.000	3112	2841	2640	2656	2624	0	0	0	0	0	0	28.83	28.83	14.27
5497	0.58	165.7	3113	2841	2679	2635	314.3	12.4	402	5506	0.00	2.45	1.60	0.257	8708	0.000	0.075	3121	1443	2644	2663	2625	0	0	0	0	0	0	28.83	14.45	14.34
5550	0.58	165.7	3122	1443	2672	2633	308.1	11.9	412	5558	0.00	2.47	1.27	0.273	9222	0.000	0.101	3121	2845	2642	2659	2625	0	0	0	0	0	0	28.83	14.45	14.33
5863	0.53	165.7	3122	2847	2679	2633	268.3	12.8	424	5868	0.17	0.00	1.55	0.255	12294	0.271	0.000	3083	2845	2641	2659	2624	0	0	0	0	0	0	14.39	28.83	14.37
6162	0.55	199.7	3084	2845	2679	2633	237.6	10.1	442	6206	0.00	2.50	34.80	1.313	8708	0.000	0.076	3092	1445	2491	2501	2481	0	0	0	0	0	0	28.83	14.26	13.72
6270	0.67	237.0	3093	1446	2498	2479	226.5	9.9	461	6311	0.00	2.53	31.85	1.203	9222	0.000	0.101	3089	2851	2339	2344	2335	0	0	0	0	0	0	28.83	14.28	13.66
6615	0.75	257.2	3092	2852	2341	2327	187.0	10.8	498	6638	0.17	2.53	16.73	1.311	10756	0.121	0.076	3167	1443	2261	2265	2258	0	0	0	0	0	0	14.35	14.21	13.74
6712	0.75	257.2	3168	1443	2259	2251	174.0	13.6	516	6720	0.00	2.53	0.00	0.000	1030	0.000	0.099	3167	2842	2254	2259	2249	0	0	0	0	0	0	28.83	14.26	28.83
7024	0.75	257.2	3167	2843	2260	2249	131.4	12.4	548	7033	0.00	2.40	0.00	0.000	516	0.000	0.075	3177	1443	2252	2260	2245	0	0	0	0	0	0	28.83	14.37	28.83
7061	0.75	257.2	3178	1443	2260	2248	126.8	12.3	555	7073	0.00	2.50	0.00	0.000	1030	0.000	0.100	3177	2846	2253	2261	2246	0	0	0	0	0	0	28.83	14.36	28.83
7367	0.75	257.2	3178	2847	2264	2246	90.2	12.0	586	7376	0.00	2.40	0.00	0.000	516	0.000	0.075	3185	1444	2253	2261	2245	0	0	0	0	0	0	28.83	14.40	28.83
7450	0.77	292.9	3186	1443	2261	2246	81.3	10.0	602	7473	0.00	2.47	14.50	0.422	9222	0.000	0.101	3186	2839	2123	2125	2122	0	0	0	0	0	0	28.83	14.39	14.16
7777	0.84	382.0	3187	2836	2148	2121	48.2	7.0	636	7822	0.00	0.00	41.08	0.330	8454	0.000	0.000	3186	2839	1757	1751	1764	0	0	0	0	0	0	28.83	28.83	14.19
8117	0.98	449.5	3186	2840	1763	1764	18.6	8.2	671	8154	0.12	1.75	30.40	0.239	10500	0.144	0.111	3233	3787	1481	1477	1486	0	0	0	0	0	0	14.45	14.35	14.24
8378	1.22	659.7	3234	3788	1485	1486	10.8	0.5	720	8480	0.15	1.60	93.53	0.216	11270	0.083	0.063	3297	2833	624	612	636	0	0	0	0	0	0	14.41	14.43	14.22
8573	end climb: SURFACE_DEPTH_REACHED
state	8573	begin surface coast
8604	end surface coast: CONTROL_FINISHED_OK
state	8604	begin surface