Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 23 * 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 23 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 32 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 3 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 3 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 3 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 -4703 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 3 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 3

CAPUPLOAD 0 ID 196 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -4703

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 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 32 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 23 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 290714,151050,7058.913,-14424.235,13,0.9,33,22.4 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 1.42 MHEAD_RNG_PITCHd_Wd 339.9,69402,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -76.2 D_GRID 1000

GPS2 290714,152123,7058.797,-14424.251,4,0.9,24,22.4

Post-dive calculations and measurements:

FINISH 0.9,1.019109 _10V_AH 12.69,0.000

SM_CCo 8389,17.70,0.203,0,0,538,681.20 FG_AHR_24Vo 0.000

SM_GC 1.33,9.32,0.20,17.70,0.070,0.101,0.203,204,2709,538,-8.40,1.33,681.20,0,0,0,0,0,0,14.35,14.37,14.26 FG_AHR_10Vo 0.000

RAFOS_CLK 290 MEM 304992

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26757,762

IRIDIUM_FIX 7026.32,-14412.41,290714,124201 CAP_FILE_SIZE 126920,0

TT8_MAMPS 0.042693,0.042693 CFSIZE 2097872896,2087419904

HUMID 47.08 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.61163 INTR 0,9349.36,0x2378b6,7,5

TCM_TEMP 12.70 SOUNDSPEED 1449.4

XPDR_PINGS 1 EKF 8485,4259.912109,-8663.673828,0.945002,-0.072205,0.018816,-0.030693,0.000140,0.001321,0.000099,0.000025,0.000025,0.000050

SC_FREEKB 3927840 CURRENT 0.046,153.26,1

TM_FREEKB 7665508 GPS 290714,174302,7059.717,-14423.375,25,0.7,45,22.4

_24V_AH 13.09,8.784

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 400 128.43 nil 0 0 0.00

Roll_motor 64 111 94.96 nil 0 0 0.00

VBD_pump_during_apogee 584 1692 12961.21 nil 0 0 0.00

VBD_pump_during_surface 17 203 47.15 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 8392 15 1668.86

Iridium_during_xfer 397 183 956.10 TMICL 8448 13 1442.57

Transponder_ping 1 420 9.62 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 6.95

TT8 0 0 0.00

LPSleep 6014 2 176.30

TT8_Active 722 9 86.85

TT8_Sampling 2225 28 817.42

TT8_CF8 75 35 34.20

TT8_Kalman 0 0 0.00

Analog_circuits 1817 10 230.70

GPS_charging 0 0 0.00

Compass 1132 0 10.78

RAFOS 1491 48 908.20

Transponder 13 30 5.01

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

19 -0.70 -145.9 169 2705 502 582 0.0 0.0 0 86 0.00 0.00 -63.85 0.000 16386 0.000 0.000 166 2706 2244 2254 2234 0 0 0 0 0 0 28.83 28.83 28.83

88 -0.70 -145.9 168 2706 2255 2235 4.2 -5.6 6 137 12.25 0.00 -28.65 0.000 18950 0.401 0.000 2672 2706 3916 3977 3856 0 0 0 0 0 0 14.08 28.83 14.46

431 -0.61 -145.9 2673 2707 3979 3862 85.6 -20.3 43 439 0.12 1.92 0.00 0.000 2308 0.313 0.105 2695 3790 3920 3978 3862 0 0 0 0 0 0 14.25 14.36 28.83

663 -0.61 -145.9 2696 3790 3979 3861 128.6 -17.3 89 673 0.00 1.80 0.00 0.000 1030 0.000 0.061 2695 2686 3919 3978 3861 0 0 0 0 0 0 28.83 14.44 28.83

977 -0.61 -145.9 2696 2686 3979 3861 177.0 -13.9 121 980 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2685 3919 3978 3861 0 0 0 0 0 0 28.83 28.83 28.83

1277 -0.65 -145.9 2696 2686 3978 3860 215.3 -12.0 151 1279 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2686 3919 3978 3861 0 0 0 0 0 0 28.83 28.83 28.83

1577 -0.71 -145.9 2696 2686 3979 3861 249.9 -11.0 181 1579 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2686 3919 3978 3861 0 0 0 0 0 0 28.83 28.83 28.83

1887 -0.78 -145.9 2696 2686 3978 3860 284.6 -11.0 192 1896 0.12 1.95 0.00 0.000 4356 0.142 0.109 2632 3788 3916 3976 3856 0 0 0 0 0 0 14.52 14.49 28.83

1945 -0.71 -145.9 2633 3787 3977 3861 293.2 -15.5 203 1954 0.15 1.83 0.00 0.000 3078 0.256 0.063 2672 2701 3918 3975 3861 0 0 0 0 0 0 14.38 14.54 28.83

2262 -0.71 -145.9 2670 2700 3977 3861 331.2 -12.2 214 2264 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2700 3918 3976 3860 0 0 0 0 0 0 28.83 28.83 28.83

2550 -0.71 -145.9 2673 2701 3976 3861 366.8 -11.7 224 2557 0.00 1.92 0.00 0.000 260 0.000 0.112 2665 3794 3917 3974 3861 0 0 0 0 0 0 28.83 14.43 28.83

2586 -0.71 -145.9 2666 3794 3975 3861 371.6 -13.3 231 2595 0.00 1.85 0.00 0.000 1030 0.000 0.062 2664 2695 3917 3973 3861 0 0 0 0 0 0 28.83 14.50 28.83

2914 -0.71 -145.9 2666 2696 3975 3862 411.7 -12.2 246 2922 0.00 1.92 0.00 0.000 260 0.000 0.112 2657 3786 3917 3974 3860 0 0 0 0 0 0 28.83 14.42 28.83

2966 -0.71 -145.9 2658 3787 3974 3861 418.7 -13.4 256 2974 0.00 1.83 0.00 0.000 1030 0.000 0.061 2657 2697 3915 3973 3857 0 0 0 0 0 0 28.83 14.47 28.83

3277 -0.71 -145.9 2658 2698 3974 3861 458.5 -12.6 268 3281 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2696 3916 3974 3859 0 0 0 0 0 0 28.83 28.83 28.83

3578 -0.71 -145.9 2658 2698 3975 3861 496.1 -12.3 278 3586 0.00 1.92 0.00 0.000 260 0.000 0.111 2649 3788 3916 3973 3860 0 0 0 0 0 0 28.83 14.40 28.83

3611 end dive: TARGET_DEPTH_EXCEEDED

state 3611 begin apogee

3615 -0.13 0.0 2650 2842 3974 3861 500.5 -14.1 284 3801 0.80 0.00 179.77 1.512 10246 0.247 0.000 2857 2842 3315 3337 3294 0 0 0 0 0 0 14.30 28.83 13.14

3803 end apogee: CONTROL_FINISHED_OK

state 3804 begin climb

3805 0.70 145.9 2857 2842 3333 3289 507.2 0.0 290 3941 0.93 1.85 121.40 1.442 10500 0.143 0.108 3130 3786 2712 2720 2704 0 0 0 0 0 0 13.75 13.61 13.09

4036 0.55 145.9 3129 3786 2714 2698 486.4 15.9 329 4045 0.22 1.62 0.00 0.000 5126 0.285 0.061 3091 2824 2707 2717 2698 0 0 0 0 0 0 13.82 13.97 28.83

4355 0.55 156.0 3092 2824 2718 2695 449.4 11.4 342 4363 0.00 2.47 2.95 0.923 8708 0.000 0.076 3099 1438 2682 2696 2669 0 0 0 0 0 0 28.83 14.20 13.32

4407 0.56 170.9 3100 1437 2714 2678 443.5 11.1 352 4435 0.00 2.53 20.55 1.693 9222 0.000 0.100 3099 2840 2614 2626 2603 0 0 0 0 0 0 28.83 14.21 13.45

4755 0.56 170.9 3100 2841 2622 2595 400.2 12.5 370 4762 0.00 2.42 0.00 0.000 516 0.000 0.076 3110 1438 2608 2622 2594 0 0 0 0 0 0 28.83 14.28 28.83

4801 0.57 183.0 3111 1438 2623 2593 394.8 11.2 379 4823 0.00 2.53 10.43 1.571 9222 0.000 0.099 3110 2845 2564 2577 2551 0 0 0 0 0 0 28.83 14.25 13.66

5117 0.57 183.0 3111 2846 2578 2548 354.0 12.9 392 5120 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2846 2562 2576 2548 0 0 0 0 0 0 28.83 28.83 28.83

5416 0.57 183.0 3111 2847 2577 2549 315.8 12.7 402 5425 0.00 2.40 0.00 0.000 516 0.000 0.076 3119 1442 2561 2576 2547 0 0 0 0 0 0 28.83 14.42 28.83

5489 0.58 190.5 3120 1442 2578 2547 307.3 11.5 416 5498 0.00 2.47 2.53 0.735 9222 0.000 0.100 3119 2839 2540 2553 2527 0 0 0 0 0 0 28.83 14.42 13.52

5812 0.58 190.5 3120 2841 2578 2539 265.4 13.2 430 5820 0.00 2.45 1.83 0.276 8708 0.000 0.074 3125 1446 2542 2561 2523 0 0 0 0 0 0 28.83 14.45 14.26

5864 0.58 198.7 3126 1446 2574 2533 259.1 11.5 440 5887 0.00 2.47 12.95 1.472 9222 0.000 0.099 3125 2844 2501 2514 2489 0 0 0 0 0 0 28.83 14.45 13.75

6191 0.58 198.7 3126 2844 2514 2487 215.0 13.5 474 6199 0.00 2.38 0.00 0.000 516 0.000 0.073 3133 1445 2499 2513 2486 0 0 0 0 0 0 28.83 14.38 28.83

6243 0.59 201.5 3134 1446 2514 2487 208.5 11.8 484 6251 0.15 2.47 0.00 0.000 5126 0.262 0.100 3102 2840 2499 2513 2486 0 0 0 0 0 0 14.31 14.40 28.83

6555 0.66 242.5 3102 2841 2514 2486 175.1 9.7 516 6604 0.00 2.47 37.80 1.342 8708 0.000 0.076 3110 1449 2320 2325 2316 0 0 0 0 0 0 28.83 14.17 13.62

6668 0.80 289.0 3110 1449 2324 2313 164.6 9.4 536 6717 0.17 2.50 39.70 1.346 11270 0.111 0.100 3182 2839 2134 2133 2136 0 0 0 0 0 0 14.28 14.23 13.50

7021 0.80 289.0 3183 2840 2133 2125 114.2 14.1 574 7028 0.00 2.40 0.00 0.000 516 0.000 0.076 3191 1446 2128 2132 2124 0 0 0 0 0 0 28.83 14.29 28.83

7122 0.80 289.0 3192 1446 2133 2122 101.5 12.0 594 7130 0.00 2.50 0.00 0.000 1030 0.000 0.100 3191 2841 2127 2133 2122 0 0 0 0 0 0 28.83 14.29 28.83

7434 0.80 289.0 3192 2841 2134 2122 61.4 12.0 626 7442 0.00 2.40 0.00 0.000 516 0.000 0.076 3200 1447 2127 2133 2121 0 0 0 0 0 0 28.83 14.38 28.83

7556 0.92 380.8 3201 1447 2133 2121 50.7 6.9 650 7603 0.00 2.50 39.67 0.341 9222 0.000 0.101 3200 2841 1762 1754 1771 0 0 0 0 0 0 28.83 14.35 14.16

7907 1.02 429.1 3201 2843 1759 1764 17.3 9.3 688 7936 0.12 1.75 21.45 0.243 10500 0.139 0.111 3251 3791 1565 1558 1572 0 0 0 0 0 0 14.40 14.34 14.26

8160 1.23 642.0 3252 3792 1558 1568 11.7 0.3 736 8264 0.10 1.60 93.85 0.224 11270 0.086 0.063 3305 2841 697 686 708 0 0 0 0 0 0 14.40 14.42 14.20

8347 end climb: SURFACE_DEPTH_REACHED

state 8347 begin surface coast

8368 end surface coast: CONTROL_FINISHED_OK

state 8368 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	23	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	32	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	3	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	3	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	3	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	-4703	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	290714,151050,7058.913,-14424.235,13,0.9,33,22.4	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	1.42	MHEAD_RNG_PITCHd_Wd	339.9,69402,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-76.2	D_GRID	1000
GPS2	290714,152123,7058.797,-14424.251,4,0.9,24,22.4

FINISH	0.9,1.019109	_10V_AH	12.69,0.000
SM_CCo	8389,17.70,0.203,0,0,538,681.20	FG_AHR_24Vo	0.000
SM_GC	1.33,9.32,0.20,17.70,0.070,0.101,0.203,204,2709,538,-8.40,1.33,681.20,0,0,0,0,0,0,14.35,14.37,14.26	FG_AHR_10Vo	0.000
RAFOS_CLK	290	MEM	304992
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26757,762
IRIDIUM_FIX	7026.32,-14412.41,290714,124201	CAP_FILE_SIZE	126920,0
TT8_MAMPS	0.042693,0.042693	CFSIZE	2097872896,2087419904
HUMID	47.08	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.61163	INTR	0,9349.36,0x2378b6,7,5
TCM_TEMP	12.70	SOUNDSPEED	1449.4
XPDR_PINGS	1	EKF	8485,4259.912109,-8663.673828,0.945002,-0.072205,0.018816,-0.030693,0.000140,0.001321,0.000099,0.000025,0.000025,0.000050
SC_FREEKB	3927840	CURRENT	0.046,153.26,1
TM_FREEKB	7665508	GPS	290714,174302,7059.717,-14423.375,25,0.7,45,22.4
_24V_AH	13.09,8.784

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	400	128.43	nil	0	0	0.00
Roll_motor	64	111	94.96	nil	0	0	0.00
VBD_pump_during_apogee	584	1692	12961.21	nil	0	0	0.00
VBD_pump_during_surface	17	203	47.15	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	8392	15	1668.86
Iridium_during_xfer	397	183	956.10	TMICL	8448	13	1442.57
Transponder_ping	1	420	9.62	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	6.95
TT8	0	0	0.00
LPSleep	6014	2	176.30
TT8_Active	722	9	86.85
TT8_Sampling	2225	28	817.42
TT8_CF8	75	35	34.20
TT8_Kalman	0	0	0.00
Analog_circuits	1817	10	230.70
GPS_charging	0	0	0.00
Compass	1132	0	10.78
RAFOS	1491	48	908.20
Transponder	13	30	5.01

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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
19	-0.70	-145.9	169	2705	502	582	0.0	0.0	0	86	0.00	0.00	-63.85	0.000	16386	0.000	0.000	166	2706	2244	2254	2234	0	0	0	0	0	0	28.83	28.83	28.83
88	-0.70	-145.9	168	2706	2255	2235	4.2	-5.6	6	137	12.25	0.00	-28.65	0.000	18950	0.401	0.000	2672	2706	3916	3977	3856	0	0	0	0	0	0	14.08	28.83	14.46
431	-0.61	-145.9	2673	2707	3979	3862	85.6	-20.3	43	439	0.12	1.92	0.00	0.000	2308	0.313	0.105	2695	3790	3920	3978	3862	0	0	0	0	0	0	14.25	14.36	28.83
663	-0.61	-145.9	2696	3790	3979	3861	128.6	-17.3	89	673	0.00	1.80	0.00	0.000	1030	0.000	0.061	2695	2686	3919	3978	3861	0	0	0	0	0	0	28.83	14.44	28.83
977	-0.61	-145.9	2696	2686	3979	3861	177.0	-13.9	121	980	0.00	0.00	0.00	0.000	6	0.000	0.000	2695	2685	3919	3978	3861	0	0	0	0	0	0	28.83	28.83	28.83
1277	-0.65	-145.9	2696	2686	3978	3860	215.3	-12.0	151	1279	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2686	3919	3978	3861	0	0	0	0	0	0	28.83	28.83	28.83
1577	-0.71	-145.9	2696	2686	3979	3861	249.9	-11.0	181	1579	0.00	0.00	0.00	0.000	6	0.000	0.000	2695	2686	3919	3978	3861	0	0	0	0	0	0	28.83	28.83	28.83
1887	-0.78	-145.9	2696	2686	3978	3860	284.6	-11.0	192	1896	0.12	1.95	0.00	0.000	4356	0.142	0.109	2632	3788	3916	3976	3856	0	0	0	0	0	0	14.52	14.49	28.83
1945	-0.71	-145.9	2633	3787	3977	3861	293.2	-15.5	203	1954	0.15	1.83	0.00	0.000	3078	0.256	0.063	2672	2701	3918	3975	3861	0	0	0	0	0	0	14.38	14.54	28.83
2262	-0.71	-145.9	2670	2700	3977	3861	331.2	-12.2	214	2264	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2700	3918	3976	3860	0	0	0	0	0	0	28.83	28.83	28.83
2550	-0.71	-145.9	2673	2701	3976	3861	366.8	-11.7	224	2557	0.00	1.92	0.00	0.000	260	0.000	0.112	2665	3794	3917	3974	3861	0	0	0	0	0	0	28.83	14.43	28.83
2586	-0.71	-145.9	2666	3794	3975	3861	371.6	-13.3	231	2595	0.00	1.85	0.00	0.000	1030	0.000	0.062	2664	2695	3917	3973	3861	0	0	0	0	0	0	28.83	14.50	28.83
2914	-0.71	-145.9	2666	2696	3975	3862	411.7	-12.2	246	2922	0.00	1.92	0.00	0.000	260	0.000	0.112	2657	3786	3917	3974	3860	0	0	0	0	0	0	28.83	14.42	28.83
2966	-0.71	-145.9	2658	3787	3974	3861	418.7	-13.4	256	2974	0.00	1.83	0.00	0.000	1030	0.000	0.061	2657	2697	3915	3973	3857	0	0	0	0	0	0	28.83	14.47	28.83
3277	-0.71	-145.9	2658	2698	3974	3861	458.5	-12.6	268	3281	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2696	3916	3974	3859	0	0	0	0	0	0	28.83	28.83	28.83
3578	-0.71	-145.9	2658	2698	3975	3861	496.1	-12.3	278	3586	0.00	1.92	0.00	0.000	260	0.000	0.111	2649	3788	3916	3973	3860	0	0	0	0	0	0	28.83	14.40	28.83
3611	end dive: TARGET_DEPTH_EXCEEDED
state	3611	begin apogee
3615	-0.13	0.0	2650	2842	3974	3861	500.5	-14.1	284	3801	0.80	0.00	179.77	1.512	10246	0.247	0.000	2857	2842	3315	3337	3294	0	0	0	0	0	0	14.30	28.83	13.14
3803	end apogee: CONTROL_FINISHED_OK
state	3804	begin climb
3805	0.70	145.9	2857	2842	3333	3289	507.2	0.0	290	3941	0.93	1.85	121.40	1.442	10500	0.143	0.108	3130	3786	2712	2720	2704	0	0	0	0	0	0	13.75	13.61	13.09
4036	0.55	145.9	3129	3786	2714	2698	486.4	15.9	329	4045	0.22	1.62	0.00	0.000	5126	0.285	0.061	3091	2824	2707	2717	2698	0	0	0	0	0	0	13.82	13.97	28.83
4355	0.55	156.0	3092	2824	2718	2695	449.4	11.4	342	4363	0.00	2.47	2.95	0.923	8708	0.000	0.076	3099	1438	2682	2696	2669	0	0	0	0	0	0	28.83	14.20	13.32
4407	0.56	170.9	3100	1437	2714	2678	443.5	11.1	352	4435	0.00	2.53	20.55	1.693	9222	0.000	0.100	3099	2840	2614	2626	2603	0	0	0	0	0	0	28.83	14.21	13.45
4755	0.56	170.9	3100	2841	2622	2595	400.2	12.5	370	4762	0.00	2.42	0.00	0.000	516	0.000	0.076	3110	1438	2608	2622	2594	0	0	0	0	0	0	28.83	14.28	28.83
4801	0.57	183.0	3111	1438	2623	2593	394.8	11.2	379	4823	0.00	2.53	10.43	1.571	9222	0.000	0.099	3110	2845	2564	2577	2551	0	0	0	0	0	0	28.83	14.25	13.66
5117	0.57	183.0	3111	2846	2578	2548	354.0	12.9	392	5120	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2846	2562	2576	2548	0	0	0	0	0	0	28.83	28.83	28.83
5416	0.57	183.0	3111	2847	2577	2549	315.8	12.7	402	5425	0.00	2.40	0.00	0.000	516	0.000	0.076	3119	1442	2561	2576	2547	0	0	0	0	0	0	28.83	14.42	28.83
5489	0.58	190.5	3120	1442	2578	2547	307.3	11.5	416	5498	0.00	2.47	2.53	0.735	9222	0.000	0.100	3119	2839	2540	2553	2527	0	0	0	0	0	0	28.83	14.42	13.52
5812	0.58	190.5	3120	2841	2578	2539	265.4	13.2	430	5820	0.00	2.45	1.83	0.276	8708	0.000	0.074	3125	1446	2542	2561	2523	0	0	0	0	0	0	28.83	14.45	14.26
5864	0.58	198.7	3126	1446	2574	2533	259.1	11.5	440	5887	0.00	2.47	12.95	1.472	9222	0.000	0.099	3125	2844	2501	2514	2489	0	0	0	0	0	0	28.83	14.45	13.75
6191	0.58	198.7	3126	2844	2514	2487	215.0	13.5	474	6199	0.00	2.38	0.00	0.000	516	0.000	0.073	3133	1445	2499	2513	2486	0	0	0	0	0	0	28.83	14.38	28.83
6243	0.59	201.5	3134	1446	2514	2487	208.5	11.8	484	6251	0.15	2.47	0.00	0.000	5126	0.262	0.100	3102	2840	2499	2513	2486	0	0	0	0	0	0	14.31	14.40	28.83
6555	0.66	242.5	3102	2841	2514	2486	175.1	9.7	516	6604	0.00	2.47	37.80	1.342	8708	0.000	0.076	3110	1449	2320	2325	2316	0	0	0	0	0	0	28.83	14.17	13.62
6668	0.80	289.0	3110	1449	2324	2313	164.6	9.4	536	6717	0.17	2.50	39.70	1.346	11270	0.111	0.100	3182	2839	2134	2133	2136	0	0	0	0	0	0	14.28	14.23	13.50
7021	0.80	289.0	3183	2840	2133	2125	114.2	14.1	574	7028	0.00	2.40	0.00	0.000	516	0.000	0.076	3191	1446	2128	2132	2124	0	0	0	0	0	0	28.83	14.29	28.83
7122	0.80	289.0	3192	1446	2133	2122	101.5	12.0	594	7130	0.00	2.50	0.00	0.000	1030	0.000	0.100	3191	2841	2127	2133	2122	0	0	0	0	0	0	28.83	14.29	28.83
7434	0.80	289.0	3192	2841	2134	2122	61.4	12.0	626	7442	0.00	2.40	0.00	0.000	516	0.000	0.076	3200	1447	2127	2133	2121	0	0	0	0	0	0	28.83	14.38	28.83
7556	0.92	380.8	3201	1447	2133	2121	50.7	6.9	650	7603	0.00	2.50	39.67	0.341	9222	0.000	0.101	3200	2841	1762	1754	1771	0	0	0	0	0	0	28.83	14.35	14.16
7907	1.02	429.1	3201	2843	1759	1764	17.3	9.3	688	7936	0.12	1.75	21.45	0.243	10500	0.139	0.111	3251	3791	1565	1558	1572	0	0	0	0	0	0	14.40	14.34	14.26
8160	1.23	642.0	3252	3792	1558	1568	11.7	0.3	736	8264	0.10	1.60	93.85	0.224	11270	0.086	0.063	3305	2841	697	686	708	0	0	0	0	0	0	14.40	14.42	14.20
8347	end climb: SURFACE_DEPTH_REACHED
state	8347	begin surface coast
8368	end surface coast: CONTROL_FINISHED_OK
state	8368	begin surface