Glider dive log

MIZ Jul14 * SG197 * Dive index * Mission links * Dive 23 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 197 ESCAPE_HEADING 0 C_ROLL_CLIMB 2400 ALTIM_FREQUENCY 13

MISSION 6 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 31 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 674.87756 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

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 3292 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 540 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 60 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 -6965.7427 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 0.0044180104

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00064742006

T_WATCHDOG 10 PITCH_MIN 183 MINV_10V 11 SEABIRD_T_I 2.6339721e-05

RELAUNCH 1 PITCH_MAX 3878 FG_AHR_10V 0 SEABIRD_T_J 3.2479679e-06

APOGEE_PITCH -5 C_PITCH 2492 FG_AHR_24V 0 SEABIRD_C_G -9.7930565

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1220138

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -65.523643 SEABIRD_C_I -0.0013403301

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.000117962 SEABIRD_C_J 0.000180146

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54283 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 145 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 1 ALTIM_BOTTOM_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HD_A 0.0029 ROLL_MIN 200 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.013 ROLL_MAX 3713 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 1.7e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2550 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 500 PITCH_GAIN 32 SURFACE_URGENCY_FORCE 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3878 SURFACE_URGENCY_TRY 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 183 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 TGT_DEFAULT_LAT 4736

ALTIM_PING_DEPTH 0 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 0.000117962 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -65.523643 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0029 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.013 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 1.7e-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 197 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -6965.7427

COMM_SEQ 0 INT_PRESSURE_YINT 0.69999999 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 2492 LOGGERDEVICE4 -1 ROLL_MAX 3713 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2550 MASS 54283 ROLL_MIN 200 UNCOM_BLEED 60

C_VBD 3292 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 31 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 22 USE_ICE 0

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 6 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 -9.7930565 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1220138 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0013403301 VBD_MIN 500

DIVE 23 N_FILEKB 8 SEABIRD_C_J 0.000180146 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 N_GPS -20 SEABIRD_T_G 0.0044180104 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_TIMEOUT 540

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.6339721e-05 W_ADJ_DBAND 0

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.2479679e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.02 SM_CC 674.87756

D_PITCH 0 PITCH_AD_RATE 145 SPEED_FACTOR 1

D_SAFE 0 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 290714,082426,7056.289,-14434.321,39,1.0,59,28.3 SPEED_LIMITS 0.206,0.244

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.88 MHEAD_RNG_PITCHd_Wd 302.5,85971,-22.3,-11.905,-26.01,1887

_SM_ANGLEo -72.8 D_GRID 1000

GPS2 290714,083502,7056.255,-14434.019,13,1.3,33,28.3

Post-dive calculations and measurements:

FINISH 1.0,1.019153 _10V_AH 12.69,0.000

SM_CCo 8435,4.82,0.198,0,0,538,675.07 FG_AHR_24Vo 0.000

SM_GC 3.16,8.35,2.88,4.82,0.103,0.111,0.198,184,2557,538,-7.17,-0.42,675.07,0,0,0,0,0,0,14.51,14.49,14.44 FG_AHR_10Vo 0.000

RAFOS_CLK 809381 MEM 304832

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26711,748

IRIDIUM_FIX 7026.32,-14436.17,290714,055816 CAP_FILE_SIZE 124520,0

TT8_MAMPS 0.042693,0.042693 CFSIZE 1047117824,1038876672

HUMID 47.20 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.63976 INTR 0,9060.13,0x2378b6,7,5

TCM_TEMP 12.80 SOUNDSPEED 1449.5

XPDR_PINGS 0 EKF 8511,4257.071289,-8676.129883,1.045730,0.019068,0.056935,-0.005302,0.000133,0.001250,0.000095,0.000025,0.000025,0.000034

SC_FREEKB 3927872 CURRENT 0.080,147.36,1

TM_FREEKB 7702092 GPS 290714,105703,7056.762,-14435.512,16,1.4,36,28.3

_24V_AH 12.87,15.989

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 472 140.78 nil 0 0 0.00

Roll_motor 73 119 112.89 nil 0 0 0.00

VBD_pump_during_apogee 580 2238 16736.77 nil 0 0 0.00

VBD_pump_during_surface 4 198 12.30 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 8433 15 1684.97

Iridium_during_xfer 403 179 930.64 TMICL 8485 13 1461.34

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 20 9.63

TT8 0 0 0.00

LPSleep 6071 2 177.97

TT8_Active 741 11 110.26

TT8_Sampling 2182 30 843.35

TT8_CF8 76 43 42.44

TT8_Kalman 0 0 0.00

Analog_circuits 1825 10 231.64

GPS_charging 0 0 0.00

Compass 1109 5 70.39

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 -0.80 -145.9 172 2560 482 619 0.0 0.0 0 84 0.00 0.00 -63.62 0.000 16386 0.000 0.000 171 2560 2188 2195 2181 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.80 -145.9 172 2560 2195 2183 4.0 -4.1 6 135 11.15 2.47 -30.48 0.000 18948 0.472 0.110 2227 1141 3892 3870 3914 0 0 0 0 0 0 14.21 14.42 14.63

359 -0.70 -145.9 2225 1140 3864 3919 67.7 -20.5 58 367 0.20 2.53 0.00 0.000 3078 0.332 0.115 2257 2546 3891 3864 3919 0 0 0 0 0 0 14.35 14.50 28.83

671 -0.70 -145.9 2254 2552 3865 3920 123.4 -16.9 90 679 0.00 2.42 0.00 0.000 516 0.000 0.087 2257 1140 3892 3864 3920 0 0 0 0 0 0 28.83 14.57 28.83

798 -0.73 -145.9 2258 1138 3865 3920 143.2 -14.9 115 809 0.00 2.53 0.00 0.000 1030 0.000 0.115 2250 2551 3891 3864 3919 0 0 0 0 0 0 28.83 14.57 28.83

1103 -0.73 -145.9 2250 2552 3866 3920 188.9 -14.0 146 1111 0.00 2.42 0.00 0.000 516 0.000 0.089 2249 1135 3891 3864 3919 0 0 0 0 0 0 28.83 14.62 28.83

1196 -0.77 -145.9 2250 1136 3864 3920 201.2 -13.2 164 1203 0.00 2.53 0.00 0.000 1030 0.000 0.116 2240 2550 3892 3864 3920 0 0 0 0 0 0 28.83 14.61 28.83

1508 -0.80 -145.9 2240 2552 3861 3916 241.4 -12.4 196 1516 0.00 2.40 0.00 0.000 516 0.000 0.090 2240 1142 3890 3861 3919 0 0 0 0 0 0 28.83 14.64 28.83

1565 -0.85 -145.9 2236 1142 3861 3920 248.6 -12.5 207 1576 0.00 2.53 0.00 0.000 1030 0.000 0.116 2230 2556 3889 3860 3919 0 0 0 0 0 0 28.83 14.62 28.83

1881 -0.88 -145.9 2230 2557 3860 3920 288.8 -12.8 219 1890 0.00 2.42 0.00 0.000 516 0.000 0.090 2230 1138 3889 3860 3919 0 0 0 0 0 0 28.83 14.66 28.83

1994 -0.92 -145.9 2230 1139 3859 3920 302.7 -12.0 241 2002 0.00 2.53 0.00 0.000 1030 0.000 0.116 2219 2555 3889 3859 3919 0 0 0 0 0 0 28.83 14.66 28.83

2306 -0.92 -145.9 2219 2556 3860 3920 341.8 -12.5 253 2314 0.00 2.42 0.00 0.000 516 0.000 0.090 2219 1135 3889 3859 3919 0 0 0 0 0 0 28.83 14.70 28.83

2368 -0.96 -145.9 2220 1134 3859 3919 349.4 -12.4 265 2375 0.00 2.53 0.00 0.000 1030 0.000 0.116 2210 2555 3889 3859 3919 0 0 0 0 0 0 28.83 14.67 28.83

2700 -0.96 -145.9 2210 2557 3859 3919 391.6 -12.6 281 2708 0.00 2.42 0.00 0.000 516 0.000 0.090 2213 1134 3889 3859 3919 0 0 0 0 0 0 28.83 14.71 28.83

2792 -0.98 -145.9 2210 1133 3858 3919 403.0 -11.8 299 2801 0.00 2.53 0.00 0.000 1030 0.000 0.117 2199 2553 3888 3858 3919 0 0 0 0 0 0 28.83 14.69 28.83

3126 -0.98 -145.9 2200 2554 3859 3919 446.6 -13.3 315 3135 0.00 2.42 0.00 0.000 516 0.000 0.090 2199 1133 3888 3858 3918 0 0 0 0 0 0 28.83 14.72 28.83

3229 -0.98 -145.9 2201 1133 3857 3919 460.1 -13.0 335 3239 0.00 2.53 0.00 0.000 1030 0.000 0.117 2189 2553 3888 3858 3918 0 0 0 0 0 0 28.83 14.63 28.83

3522 end dive: TARGET_DEPTH_EXCEEDED

state 3522 begin apogee

3525 -0.16 0.0 2191 2397 3858 3919 500.3 -13.7 348 3677 0.95 0.00 137.18 2.238 10246 0.286 0.000 2436 2395 3297 3248 3347 0 0 0 0 1 0 14.61 28.83 12.87

3680 end apogee: CONTROL_FINISHED_OK

state 3680 begin climb

3681 0.80 145.9 2436 2396 3250 3351 505.5 0.0 353 3823 1.02 2.58 127.43 1.490 10756 0.149 0.091 2750 999 2690 2621 2760 0 0 0 0 0 0 13.89 13.78 13.23

3887 0.74 145.9 2754 999 2611 2756 492.0 12.9 387 3897 0.00 2.60 0.00 0.000 1030 0.000 0.102 2754 2400 2683 2611 2755 0 0 0 0 0 0 28.83 14.00 28.83

4202 0.64 145.9 2754 2401 2609 2756 449.6 13.6 399 4205 0.25 0.00 0.00 0.000 4102 0.304 0.000 2699 2400 2682 2609 2756 0 0 0 0 0 0 14.23 28.83 28.83

4501 0.65 167.3 2699 2401 2603 2756 417.2 10.7 409 4528 0.00 2.38 18.08 1.408 8452 0.000 0.112 2698 3718 2602 2520 2684 0 0 0 0 0 0 28.83 14.34 13.81

4557 0.58 167.3 2699 3722 2516 2682 410.7 12.8 419 4566 0.00 2.22 0.00 0.000 1030 0.000 0.070 2704 2400 2598 2515 2681 0 0 0 0 0 0 28.83 14.40 28.83

4871 0.59 177.1 2704 2401 2514 2682 374.7 11.4 431 4877 0.00 0.00 3.47 1.030 8198 0.000 0.000 2704 2400 2568 2484 2653 0 0 0 0 0 0 28.83 28.83 13.62

5171 0.60 185.7 2704 2400 2506 2670 340.1 11.4 441 5189 0.00 0.00 15.02 1.361 8198 0.000 0.000 2704 2400 2533 2450 2616 0 0 0 0 0 0 28.83 28.83 13.95

5470 0.60 185.7 2710 2400 2437 2602 304.4 12.0 451 5480 0.00 2.33 0.00 0.000 260 0.000 0.117 2704 3710 2519 2436 2602 0 0 0 0 0 0 28.83 14.56 28.83

5519 0.54 185.7 2704 3711 2437 2602 297.8 13.9 460 5527 0.20 2.20 0.00 0.000 5126 0.293 0.070 2666 2395 2518 2436 2601 0 0 0 0 0 0 14.47 14.57 28.83

5836 0.64 235.2 2663 2395 2437 2602 267.2 9.2 473 5884 0.10 0.00 43.12 1.219 10246 0.162 0.000 2709 2394 2332 2251 2414 0 0 0 0 0 0 14.67 28.83 13.87

6166 0.68 235.2 2710 2394 2232 2398 226.3 12.2 496 6169 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2394 2314 2231 2397 0 0 0 0 0 0 28.83 28.83 28.83

6466 0.73 249.9 2710 2395 2229 2398 191.3 11.1 526 6481 0.00 0.00 12.20 1.069 8198 0.000 0.000 2709 2394 2272 2188 2356 0 0 0 0 0 0 28.83 28.83 14.05

6776 0.84 299.2 2706 2394 2173 2344 160.1 9.2 557 6831 0.12 2.45 44.10 1.053 10500 0.142 0.119 2769 3713 2057 1966 2148 0 0 0 0 0 0 14.59 14.32 13.90

6851 0.78 299.2 2769 3714 1961 2142 150.5 15.5 569 6859 0.15 2.22 0.00 0.000 5126 0.299 0.070 2748 2400 2051 1961 2142 0 0 0 0 0 0 14.28 14.40 28.83

7163 0.85 324.0 2750 2399 1954 2140 114.9 10.6 601 7188 0.00 0.00 21.45 1.001 8198 0.000 0.000 2748 2399 1970 1871 2069 0 0 0 0 0 0 28.83 28.83 13.97

7483 0.94 357.7 2755 2399 1847 2050 80.9 10.1 633 7506 0.12 2.42 13.80 0.395 10500 0.143 0.119 2805 3712 1831 1730 1932 0 0 0 0 0 0 14.57 14.45 14.31

7540 0.87 357.7 2805 3712 1750 1933 73.0 15.9 643 7550 0.17 2.20 0.00 0.000 5126 0.301 0.073 2777 2401 1843 1752 1934 0 0 0 0 0 0 14.40 14.53 28.83

7854 0.96 406.0 2777 2401 1756 1943 38.1 9.3 675 7891 0.00 2.40 24.50 0.287 8452 0.000 0.119 2776 3709 1634 1531 1738 0 0 0 0 0 0 28.83 14.50 14.39

7896 1.06 446.4 2778 3709 1532 1743 34.2 9.7 681 7925 0.15 2.20 19.27 0.285 11270 0.129 0.072 2842 2396 1469 1361 1578 0 0 0 0 0 0 14.57 14.55 14.39

8219 1.32 666.2 2843 2396 1378 1579 13.0 -0.1 715 8328 0.22 2.55 101.35 0.213 10756 0.104 0.101 2931 994 574 457 691 0 0 0 0 0 0 14.62 14.45 14.38

8391 end climb: SURFACE_DEPTH_REACHED

state 8391 begin surface coast

8411 end surface coast: CONTROL_FINISHED_OK

state 8411 begin surface

ID	197	ESCAPE_HEADING	0	C_ROLL_CLIMB	2400	ALTIM_FREQUENCY	13
MISSION	6	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	31	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	674.87756	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
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	3292	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	540	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	60	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	-6965.7427	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	0.0044180104
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00064742006
T_WATCHDOG	10	PITCH_MIN	183	MINV_10V	11	SEABIRD_T_I	2.6339721e-05
RELAUNCH	1	PITCH_MAX	3878	FG_AHR_10V	0	SEABIRD_T_J	3.2479679e-06
APOGEE_PITCH	-5	C_PITCH	2492	FG_AHR_24V	0	SEABIRD_C_G	-9.7930565
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1220138
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-65.523643	SEABIRD_C_I	-0.0013403301
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.000117962	SEABIRD_C_J	0.000180146
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54283	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	145	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	1	ALTIM_BOTTOM_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HD_A	0.0029	ROLL_MIN	200	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.013	ROLL_MAX	3713	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	1.7e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2550	ALTIM_PING_DELTA	5

GPS1	290714,082426,7056.289,-14434.321,39,1.0,59,28.3	SPEED_LIMITS	0.206,0.244
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.88	MHEAD_RNG_PITCHd_Wd	302.5,85971,-22.3,-11.905,-26.01,1887
_SM_ANGLEo	-72.8	D_GRID	1000
GPS2	290714,083502,7056.255,-14434.019,13,1.3,33,28.3

FINISH	1.0,1.019153	_10V_AH	12.69,0.000
SM_CCo	8435,4.82,0.198,0,0,538,675.07	FG_AHR_24Vo	0.000
SM_GC	3.16,8.35,2.88,4.82,0.103,0.111,0.198,184,2557,538,-7.17,-0.42,675.07,0,0,0,0,0,0,14.51,14.49,14.44	FG_AHR_10Vo	0.000
RAFOS_CLK	809381	MEM	304832
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26711,748
IRIDIUM_FIX	7026.32,-14436.17,290714,055816	CAP_FILE_SIZE	124520,0
TT8_MAMPS	0.042693,0.042693	CFSIZE	1047117824,1038876672
HUMID	47.20	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.63976	INTR	0,9060.13,0x2378b6,7,5
TCM_TEMP	12.80	SOUNDSPEED	1449.5
XPDR_PINGS	0	EKF	8511,4257.071289,-8676.129883,1.045730,0.019068,0.056935,-0.005302,0.000133,0.001250,0.000095,0.000025,0.000025,0.000034
SC_FREEKB	3927872	CURRENT	0.080,147.36,1
TM_FREEKB	7702092	GPS	290714,105703,7056.762,-14435.512,16,1.4,36,28.3
_24V_AH	12.87,15.989

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	472	140.78	nil	0	0	0.00
Roll_motor	73	119	112.89	nil	0	0	0.00
VBD_pump_during_apogee	580	2238	16736.77	nil	0	0	0.00
VBD_pump_during_surface	4	198	12.30	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	8433	15	1684.97
Iridium_during_xfer	403	179	930.64	TMICL	8485	13	1461.34
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	20	9.63
TT8	0	0	0.00
LPSleep	6071	2	177.97
TT8_Active	741	11	110.26
TT8_Sampling	2182	30	843.35
TT8_CF8	76	43	42.44
TT8_Kalman	0	0	0.00
Analog_circuits	1825	10	231.64
GPS_charging	0	0	0.00
Compass	1109	5	70.39
RAFOS	0	0	0.00
Transponder	0	5	0.03

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	-0.80	-145.9	172	2560	482	619	0.0	0.0	0	84	0.00	0.00	-63.62	0.000	16386	0.000	0.000	171	2560	2188	2195	2181	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.80	-145.9	172	2560	2195	2183	4.0	-4.1	6	135	11.15	2.47	-30.48	0.000	18948	0.472	0.110	2227	1141	3892	3870	3914	0	0	0	0	0	0	14.21	14.42	14.63
359	-0.70	-145.9	2225	1140	3864	3919	67.7	-20.5	58	367	0.20	2.53	0.00	0.000	3078	0.332	0.115	2257	2546	3891	3864	3919	0	0	0	0	0	0	14.35	14.50	28.83
671	-0.70	-145.9	2254	2552	3865	3920	123.4	-16.9	90	679	0.00	2.42	0.00	0.000	516	0.000	0.087	2257	1140	3892	3864	3920	0	0	0	0	0	0	28.83	14.57	28.83
798	-0.73	-145.9	2258	1138	3865	3920	143.2	-14.9	115	809	0.00	2.53	0.00	0.000	1030	0.000	0.115	2250	2551	3891	3864	3919	0	0	0	0	0	0	28.83	14.57	28.83
1103	-0.73	-145.9	2250	2552	3866	3920	188.9	-14.0	146	1111	0.00	2.42	0.00	0.000	516	0.000	0.089	2249	1135	3891	3864	3919	0	0	0	0	0	0	28.83	14.62	28.83
1196	-0.77	-145.9	2250	1136	3864	3920	201.2	-13.2	164	1203	0.00	2.53	0.00	0.000	1030	0.000	0.116	2240	2550	3892	3864	3920	0	0	0	0	0	0	28.83	14.61	28.83
1508	-0.80	-145.9	2240	2552	3861	3916	241.4	-12.4	196	1516	0.00	2.40	0.00	0.000	516	0.000	0.090	2240	1142	3890	3861	3919	0	0	0	0	0	0	28.83	14.64	28.83
1565	-0.85	-145.9	2236	1142	3861	3920	248.6	-12.5	207	1576	0.00	2.53	0.00	0.000	1030	0.000	0.116	2230	2556	3889	3860	3919	0	0	0	0	0	0	28.83	14.62	28.83
1881	-0.88	-145.9	2230	2557	3860	3920	288.8	-12.8	219	1890	0.00	2.42	0.00	0.000	516	0.000	0.090	2230	1138	3889	3860	3919	0	0	0	0	0	0	28.83	14.66	28.83
1994	-0.92	-145.9	2230	1139	3859	3920	302.7	-12.0	241	2002	0.00	2.53	0.00	0.000	1030	0.000	0.116	2219	2555	3889	3859	3919	0	0	0	0	0	0	28.83	14.66	28.83
2306	-0.92	-145.9	2219	2556	3860	3920	341.8	-12.5	253	2314	0.00	2.42	0.00	0.000	516	0.000	0.090	2219	1135	3889	3859	3919	0	0	0	0	0	0	28.83	14.70	28.83
2368	-0.96	-145.9	2220	1134	3859	3919	349.4	-12.4	265	2375	0.00	2.53	0.00	0.000	1030	0.000	0.116	2210	2555	3889	3859	3919	0	0	0	0	0	0	28.83	14.67	28.83
2700	-0.96	-145.9	2210	2557	3859	3919	391.6	-12.6	281	2708	0.00	2.42	0.00	0.000	516	0.000	0.090	2213	1134	3889	3859	3919	0	0	0	0	0	0	28.83	14.71	28.83
2792	-0.98	-145.9	2210	1133	3858	3919	403.0	-11.8	299	2801	0.00	2.53	0.00	0.000	1030	0.000	0.117	2199	2553	3888	3858	3919	0	0	0	0	0	0	28.83	14.69	28.83
3126	-0.98	-145.9	2200	2554	3859	3919	446.6	-13.3	315	3135	0.00	2.42	0.00	0.000	516	0.000	0.090	2199	1133	3888	3858	3918	0	0	0	0	0	0	28.83	14.72	28.83
3229	-0.98	-145.9	2201	1133	3857	3919	460.1	-13.0	335	3239	0.00	2.53	0.00	0.000	1030	0.000	0.117	2189	2553	3888	3858	3918	0	0	0	0	0	0	28.83	14.63	28.83
3522	end dive: TARGET_DEPTH_EXCEEDED
state	3522	begin apogee
3525	-0.16	0.0	2191	2397	3858	3919	500.3	-13.7	348	3677	0.95	0.00	137.18	2.238	10246	0.286	0.000	2436	2395	3297	3248	3347	0	0	0	0	1	0	14.61	28.83	12.87
3680	end apogee: CONTROL_FINISHED_OK
state	3680	begin climb
3681	0.80	145.9	2436	2396	3250	3351	505.5	0.0	353	3823	1.02	2.58	127.43	1.490	10756	0.149	0.091	2750	999	2690	2621	2760	0	0	0	0	0	0	13.89	13.78	13.23
3887	0.74	145.9	2754	999	2611	2756	492.0	12.9	387	3897	0.00	2.60	0.00	0.000	1030	0.000	0.102	2754	2400	2683	2611	2755	0	0	0	0	0	0	28.83	14.00	28.83
4202	0.64	145.9	2754	2401	2609	2756	449.6	13.6	399	4205	0.25	0.00	0.00	0.000	4102	0.304	0.000	2699	2400	2682	2609	2756	0	0	0	0	0	0	14.23	28.83	28.83
4501	0.65	167.3	2699	2401	2603	2756	417.2	10.7	409	4528	0.00	2.38	18.08	1.408	8452	0.000	0.112	2698	3718	2602	2520	2684	0	0	0	0	0	0	28.83	14.34	13.81
4557	0.58	167.3	2699	3722	2516	2682	410.7	12.8	419	4566	0.00	2.22	0.00	0.000	1030	0.000	0.070	2704	2400	2598	2515	2681	0	0	0	0	0	0	28.83	14.40	28.83
4871	0.59	177.1	2704	2401	2514	2682	374.7	11.4	431	4877	0.00	0.00	3.47	1.030	8198	0.000	0.000	2704	2400	2568	2484	2653	0	0	0	0	0	0	28.83	28.83	13.62
5171	0.60	185.7	2704	2400	2506	2670	340.1	11.4	441	5189	0.00	0.00	15.02	1.361	8198	0.000	0.000	2704	2400	2533	2450	2616	0	0	0	0	0	0	28.83	28.83	13.95
5470	0.60	185.7	2710	2400	2437	2602	304.4	12.0	451	5480	0.00	2.33	0.00	0.000	260	0.000	0.117	2704	3710	2519	2436	2602	0	0	0	0	0	0	28.83	14.56	28.83
5519	0.54	185.7	2704	3711	2437	2602	297.8	13.9	460	5527	0.20	2.20	0.00	0.000	5126	0.293	0.070	2666	2395	2518	2436	2601	0	0	0	0	0	0	14.47	14.57	28.83
5836	0.64	235.2	2663	2395	2437	2602	267.2	9.2	473	5884	0.10	0.00	43.12	1.219	10246	0.162	0.000	2709	2394	2332	2251	2414	0	0	0	0	0	0	14.67	28.83	13.87
6166	0.68	235.2	2710	2394	2232	2398	226.3	12.2	496	6169	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2394	2314	2231	2397	0	0	0	0	0	0	28.83	28.83	28.83
6466	0.73	249.9	2710	2395	2229	2398	191.3	11.1	526	6481	0.00	0.00	12.20	1.069	8198	0.000	0.000	2709	2394	2272	2188	2356	0	0	0	0	0	0	28.83	28.83	14.05
6776	0.84	299.2	2706	2394	2173	2344	160.1	9.2	557	6831	0.12	2.45	44.10	1.053	10500	0.142	0.119	2769	3713	2057	1966	2148	0	0	0	0	0	0	14.59	14.32	13.90
6851	0.78	299.2	2769	3714	1961	2142	150.5	15.5	569	6859	0.15	2.22	0.00	0.000	5126	0.299	0.070	2748	2400	2051	1961	2142	0	0	0	0	0	0	14.28	14.40	28.83
7163	0.85	324.0	2750	2399	1954	2140	114.9	10.6	601	7188	0.00	0.00	21.45	1.001	8198	0.000	0.000	2748	2399	1970	1871	2069	0	0	0	0	0	0	28.83	28.83	13.97
7483	0.94	357.7	2755	2399	1847	2050	80.9	10.1	633	7506	0.12	2.42	13.80	0.395	10500	0.143	0.119	2805	3712	1831	1730	1932	0	0	0	0	0	0	14.57	14.45	14.31
7540	0.87	357.7	2805	3712	1750	1933	73.0	15.9	643	7550	0.17	2.20	0.00	0.000	5126	0.301	0.073	2777	2401	1843	1752	1934	0	0	0	0	0	0	14.40	14.53	28.83
7854	0.96	406.0	2777	2401	1756	1943	38.1	9.3	675	7891	0.00	2.40	24.50	0.287	8452	0.000	0.119	2776	3709	1634	1531	1738	0	0	0	0	0	0	28.83	14.50	14.39
7896	1.06	446.4	2778	3709	1532	1743	34.2	9.7	681	7925	0.15	2.20	19.27	0.285	11270	0.129	0.072	2842	2396	1469	1361	1578	0	0	0	0	0	0	14.57	14.55	14.39
8219	1.32	666.2	2843	2396	1378	1579	13.0	-0.1	715	8328	0.22	2.55	101.35	0.213	10756	0.104	0.101	2931	994	574	457	691	0	0	0	0	0	0	14.62	14.45	14.38
8391	end climb: SURFACE_DEPTH_REACHED
state	8391	begin surface coast
8411	end surface coast: CONTROL_FINISHED_OK
state	8411	begin surface