Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 24 * 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 24 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 17 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 -4704.2563 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 -4704.2563

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 35 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 17 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 24 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 290714,174302,7059.717,-14423.375,25,0.7,45,22.4 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 1.39 MHEAD_RNG_PITCHd_Wd 338.4,67757,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -70.8 D_GRID 1000

GPS2 290714,175323,7059.660,-14423.421,5,0.8,25,22.4

Post-dive calculations and measurements:

FINISH 0.1,1.019515 _10V_AH 12.75,0.000

SM_CCo 8202,51.05,0.197,0,0,539,681.20 FG_AHR_24Vo 0.000

SM_GC 0.95,9.38,1.85,51.05,0.072,0.065,0.197,208,2708,539,-8.40,1.50,681.20,0,0,0,0,0,0,14.28,14.31,14.18 FG_AHR_10Vo 0.000

RAFOS_CLK 38 MEM 304424

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23372,666

IRIDIUM_FIX 7026.32,-14430.80,290714,151434 CAP_FILE_SIZE 118002,0

TT8_MAMPS 0.08239,0.08239 CFSIZE 2097872896,2087157760

HUMID 45.66 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.6214 INTR 0,9119.34,0x2378b6,7,5

TCM_TEMP 13.30 SOUNDSPEED 1448.8

XPDR_PINGS 3 EKF 8328,4260.771484,-8663.221680,0.101122,-0.000007,-0.002234,-0.027281,0.000156,0.001469,0.000095,0.000525,0.000525,0.000034

SC_FREEKB 3927392 CURRENT 0.038,143.05,1

TM_FREEKB 7652636 GPS 290714,201225,7100.634,-14422.904,22,0.8,42,22.4

_24V_AH 13.10,9.104

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 407 130.47 nil 0 0 0.00

Roll_motor 48 133 85.41 nil 0 0 0.00

VBD_pump_during_apogee 517 1752 11890.02 nil 0 0 0.00

VBD_pump_during_surface 51 196 131.48 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 8201 15 1623.10

Iridium_during_xfer 386 185 938.13 TMICL 8257 13 1410.93

Transponder_ping 2 420 12.38 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.02

TT8 0 0 0.00

LPSleep 6102 2 179.75

TT8_Active 672 9 81.18

TT8_Sampling 2023 28 746.97

TT8_CF8 72 35 33.13

TT8_Kalman 0 0 0.00

Analog_circuits 1670 10 213.00

GPS_charging 0 0 0.00

Compass 991 0 9.48

RAFOS 1495 48 914.94

Transponder 13 30 5.03

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

19 -0.70 -145.9 168 2709 496 573 0.0 0.0 0 96 0.00 0.00 -73.50 0.000 16386 0.000 0.000 166 2709 2517 2526 2508 0 0 0 0 0 0 28.83 28.83 28.83

98 -0.70 -145.9 167 2710 2527 2508 4.9 -7.1 7 140 12.43 2.00 -21.88 0.000 19204 0.408 0.134 2666 3790 3915 3975 3856 0 0 0 0 0 0 14.07 14.24 14.45

363 -0.55 -145.9 2667 3792 3975 3862 79.6 -22.6 58 372 0.17 1.85 0.00 0.000 3078 0.264 0.058 2722 2693 3917 3974 3861 0 0 0 0 0 0 14.23 14.37 28.83

676 -0.55 -145.9 2723 2693 3976 3861 129.0 -14.5 90 678 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2693 3918 3975 3861 0 0 0 0 0 0 28.83 28.83 28.83

976 -0.62 -145.9 2722 2693 3976 3861 169.9 -12.6 120 985 0.00 2.38 0.00 0.000 516 0.000 0.076 2722 1298 3921 3983 3860 0 0 0 0 0 0 28.83 14.45 28.83

1019 -0.74 -145.9 2723 1299 3975 3862 175.1 -11.6 128 1029 0.15 2.50 0.00 0.000 5126 0.123 0.104 2653 2703 3917 3974 3861 0 0 0 0 0 0 14.42 14.38 28.83

1333 -0.74 -145.9 2654 2703 3976 3860 221.3 -14.4 160 1336 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2703 3917 3974 3861 0 0 0 0 0 0 28.83 28.83 28.83

1633 -0.74 -145.9 2654 2703 3975 3861 264.0 -14.0 184 1636 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2703 3917 3974 3861 0 0 0 0 0 0 28.83 28.83 28.83

1933 -0.74 -145.9 2654 2704 3974 3862 304.8 -13.4 194 1936 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2703 3917 3973 3861 0 0 0 0 0 0 28.83 28.83 28.83

2233 -0.74 -145.9 2654 2703 3973 3860 344.3 -13.1 204 2243 0.00 2.38 0.00 0.000 516 0.000 0.078 2653 1298 3915 3971 3860 0 0 0 0 0 0 28.83 14.54 28.83

2271 -0.78 -145.9 2653 1298 3973 3859 349.2 -12.7 211 2279 0.00 2.50 0.00 0.000 1030 0.000 0.106 2642 2709 3916 3971 3861 0 0 0 0 0 0 28.83 14.53 28.83

2599 -0.78 -145.9 2642 2709 3971 3861 393.9 -13.8 226 2601 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2709 3915 3971 3860 0 0 0 0 0 0 28.83 28.83 28.83

2899 -0.78 -145.9 2643 2716 3970 3860 434.3 -13.4 236 2902 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2709 3917 3974 3860 0 0 0 0 0 0 28.83 28.83 28.83

3199 -0.78 -145.9 2643 2709 3970 3861 474.7 -13.4 246 3201 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2708 3914 3969 3860 0 0 0 0 0 0 28.83 28.83 28.83

3409 end dive: TARGET_DEPTH_EXCEEDED

state 3409 begin apogee

3412 -0.13 0.0 2641 2852 3970 3861 502.9 -13.4 253 3541 0.82 0.00 124.07 1.753 10246 0.249 0.000 2858 2853 3315 3336 3295 0 0 0 0 0 0 14.46 28.83 13.21

3544 end apogee: CONTROL_FINISHED_OK

state 3544 begin climb

3545 0.70 145.9 2859 2853 3332 3292 506.9 0.0 257 3681 0.90 1.80 121.32 1.523 10500 0.143 0.106 3126 3780 2714 2723 2706 0 0 0 0 0 0 13.83 13.65 13.10

3715 0.56 145.9 3127 3780 2723 2703 494.1 14.4 284 3725 0.15 1.65 0.00 0.000 5126 0.265 0.060 3098 2837 2712 2722 2703 0 0 0 0 0 0 13.74 13.89 28.83

4034 0.57 155.0 3099 2837 2723 2700 457.4 11.4 297 4042 0.00 0.00 4.57 1.473 8198 0.000 0.000 3098 2836 2686 2699 2674 0 0 0 0 0 0 28.83 28.83 13.54

4334 0.57 163.7 3099 2837 2714 2677 423.1 11.4 307 4351 0.00 0.00 12.90 1.643 8198 0.000 0.000 3098 2837 2648 2662 2634 0 0 0 0 0 0 28.83 28.83 13.57

4635 0.58 165.8 3099 2837 2657 2627 387.9 11.8 317 4642 0.00 2.38 0.00 0.000 516 0.000 0.075 3107 1442 2641 2656 2626 0 0 0 0 0 0 28.83 14.35 28.83

4671 0.59 184.7 3107 1441 2657 2626 383.8 10.9 324 4697 0.00 2.47 18.42 1.506 9222 0.000 0.099 3107 2835 2558 2570 2547 0 0 0 0 0 0 28.83 14.33 13.69

5001 0.59 184.7 3108 2836 2569 2542 341.1 13.0 339 5004 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2835 2555 2569 2541 0 0 0 0 0 0 28.83 28.83 28.83

5301 0.59 184.7 3107 2835 2570 2541 303.0 12.6 349 5304 0.00 0.00 0.00 0.000 6 0.000 0.000 3107 2835 2555 2569 2541 0 0 0 0 0 0 28.83 28.83 28.83

5602 0.59 184.7 3107 2835 2570 2549 265.7 12.5 359 5604 0.00 0.00 0.00 0.000 6 0.000 0.000 3107 2834 2554 2568 2541 0 0 0 0 0 0 28.83 28.83 28.83

5902 0.59 185.9 3107 2835 2569 2540 229.6 11.8 379 5909 0.00 2.38 0.00 0.000 516 0.000 0.074 3116 1437 2554 2569 2540 0 0 0 0 0 0 28.83 14.45 28.83

5938 0.61 207.8 3116 1437 2564 2540 225.5 10.7 386 5967 0.00 2.47 20.08 1.470 9222 0.000 0.099 3115 2841 2462 2473 2452 0 0 0 0 0 0 28.83 14.47 13.77

6271 0.61 214.1 3116 2841 2475 2449 185.4 11.6 421 6280 0.00 1.73 3.15 1.117 8452 0.000 0.109 3115 3786 2446 2459 2433 0 0 0 0 0 0 28.83 14.38 13.55

6324 0.57 214.1 3115 3786 2467 2441 178.8 12.4 431 6332 0.00 1.60 1.10 0.311 9222 0.000 0.060 3122 2831 2444 2456 2432 0 0 0 0 0 0 28.83 14.40 14.14

6637 0.60 263.6 3123 2832 2469 2439 147.6 9.2 463 6692 0.00 2.40 46.17 1.239 8708 0.000 0.073 3125 1452 2233 2238 2228 0 0 0 0 0 0 28.83 14.14 13.69

6736 0.74 304.6 3126 1452 2237 2226 138.2 9.7 480 6779 0.00 2.50 35.03 1.146 9222 0.000 0.100 3125 2839 2069 2071 2068 0 0 0 0 0 0 28.83 14.19 13.59

7083 0.85 344.5 3126 2840 2070 2055 101.7 9.7 517 7124 0.17 2.42 32.22 1.146 10756 0.115 0.073 3198 1452 1902 1896 1909 0 0 0 0 0 0 14.29 14.09 13.69

7178 0.85 344.5 3199 1455 1895 1904 88.9 13.8 534 7187 0.00 2.50 0.00 0.000 1030 0.000 0.099 3199 2839 1899 1894 1904 0 0 0 0 0 0 28.83 14.15 28.83

7484 0.86 354.1 3200 2840 1894 1901 47.6 11.4 565 7493 0.00 2.47 2.88 0.322 8708 0.000 0.075 3208 1448 1873 1869 1877 0 0 0 0 0 0 28.83 14.31 14.16

7539 0.96 396.0 3209 1448 1882 1878 43.4 9.6 573 7568 0.00 2.50 19.85 0.320 9222 0.000 0.100 3208 2845 1702 1696 1708 0 0 0 0 0 0 28.83 14.31 14.14

7862 1.22 567.3 3209 2844 1704 1704 14.0 2.6 607 7950 0.25 1.73 76.10 0.227 10500 0.101 0.110 3302 3779 1002 994 1010 0 0 0 0 0 0 14.34 14.21 14.16

8158 end climb: SURFACE_DEPTH_REACHED

state 8158 begin surface coast

8178 end surface coast: CONTROL_FINISHED_OK

state 8178 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	24	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	17	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	-4704.2563	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	290714,174302,7059.717,-14423.375,25,0.7,45,22.4	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	1.39	MHEAD_RNG_PITCHd_Wd	338.4,67757,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-70.8	D_GRID	1000
GPS2	290714,175323,7059.660,-14423.421,5,0.8,25,22.4

FINISH	0.1,1.019515	_10V_AH	12.75,0.000
SM_CCo	8202,51.05,0.197,0,0,539,681.20	FG_AHR_24Vo	0.000
SM_GC	0.95,9.38,1.85,51.05,0.072,0.065,0.197,208,2708,539,-8.40,1.50,681.20,0,0,0,0,0,0,14.28,14.31,14.18	FG_AHR_10Vo	0.000
RAFOS_CLK	38	MEM	304424
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23372,666
IRIDIUM_FIX	7026.32,-14430.80,290714,151434	CAP_FILE_SIZE	118002,0
TT8_MAMPS	0.08239,0.08239	CFSIZE	2097872896,2087157760
HUMID	45.66	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.6214	INTR	0,9119.34,0x2378b6,7,5
TCM_TEMP	13.30	SOUNDSPEED	1448.8
XPDR_PINGS	3	EKF	8328,4260.771484,-8663.221680,0.101122,-0.000007,-0.002234,-0.027281,0.000156,0.001469,0.000095,0.000525,0.000525,0.000034
SC_FREEKB	3927392	CURRENT	0.038,143.05,1
TM_FREEKB	7652636	GPS	290714,201225,7100.634,-14422.904,22,0.8,42,22.4
_24V_AH	13.10,9.104

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	407	130.47	nil	0	0	0.00
Roll_motor	48	133	85.41	nil	0	0	0.00
VBD_pump_during_apogee	517	1752	11890.02	nil	0	0	0.00
VBD_pump_during_surface	51	196	131.48	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	8201	15	1623.10
Iridium_during_xfer	386	185	938.13	TMICL	8257	13	1410.93
Transponder_ping	2	420	12.38	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.02
TT8	0	0	0.00
LPSleep	6102	2	179.75
TT8_Active	672	9	81.18
TT8_Sampling	2023	28	746.97
TT8_CF8	72	35	33.13
TT8_Kalman	0	0	0.00
Analog_circuits	1670	10	213.00
GPS_charging	0	0	0.00
Compass	991	0	9.48
RAFOS	1495	48	914.94
Transponder	13	30	5.03

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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
19	-0.70	-145.9	168	2709	496	573	0.0	0.0	0	96	0.00	0.00	-73.50	0.000	16386	0.000	0.000	166	2709	2517	2526	2508	0	0	0	0	0	0	28.83	28.83	28.83
98	-0.70	-145.9	167	2710	2527	2508	4.9	-7.1	7	140	12.43	2.00	-21.88	0.000	19204	0.408	0.134	2666	3790	3915	3975	3856	0	0	0	0	0	0	14.07	14.24	14.45
363	-0.55	-145.9	2667	3792	3975	3862	79.6	-22.6	58	372	0.17	1.85	0.00	0.000	3078	0.264	0.058	2722	2693	3917	3974	3861	0	0	0	0	0	0	14.23	14.37	28.83
676	-0.55	-145.9	2723	2693	3976	3861	129.0	-14.5	90	678	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2693	3918	3975	3861	0	0	0	0	0	0	28.83	28.83	28.83
976	-0.62	-145.9	2722	2693	3976	3861	169.9	-12.6	120	985	0.00	2.38	0.00	0.000	516	0.000	0.076	2722	1298	3921	3983	3860	0	0	0	0	0	0	28.83	14.45	28.83
1019	-0.74	-145.9	2723	1299	3975	3862	175.1	-11.6	128	1029	0.15	2.50	0.00	0.000	5126	0.123	0.104	2653	2703	3917	3974	3861	0	0	0	0	0	0	14.42	14.38	28.83
1333	-0.74	-145.9	2654	2703	3976	3860	221.3	-14.4	160	1336	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2703	3917	3974	3861	0	0	0	0	0	0	28.83	28.83	28.83
1633	-0.74	-145.9	2654	2703	3975	3861	264.0	-14.0	184	1636	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2703	3917	3974	3861	0	0	0	0	0	0	28.83	28.83	28.83
1933	-0.74	-145.9	2654	2704	3974	3862	304.8	-13.4	194	1936	0.00	0.00	0.00	0.000	6	0.000	0.000	2653	2703	3917	3973	3861	0	0	0	0	0	0	28.83	28.83	28.83
2233	-0.74	-145.9	2654	2703	3973	3860	344.3	-13.1	204	2243	0.00	2.38	0.00	0.000	516	0.000	0.078	2653	1298	3915	3971	3860	0	0	0	0	0	0	28.83	14.54	28.83
2271	-0.78	-145.9	2653	1298	3973	3859	349.2	-12.7	211	2279	0.00	2.50	0.00	0.000	1030	0.000	0.106	2642	2709	3916	3971	3861	0	0	0	0	0	0	28.83	14.53	28.83
2599	-0.78	-145.9	2642	2709	3971	3861	393.9	-13.8	226	2601	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2709	3915	3971	3860	0	0	0	0	0	0	28.83	28.83	28.83
2899	-0.78	-145.9	2643	2716	3970	3860	434.3	-13.4	236	2902	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2709	3917	3974	3860	0	0	0	0	0	0	28.83	28.83	28.83
3199	-0.78	-145.9	2643	2709	3970	3861	474.7	-13.4	246	3201	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2708	3914	3969	3860	0	0	0	0	0	0	28.83	28.83	28.83
3409	end dive: TARGET_DEPTH_EXCEEDED
state	3409	begin apogee
3412	-0.13	0.0	2641	2852	3970	3861	502.9	-13.4	253	3541	0.82	0.00	124.07	1.753	10246	0.249	0.000	2858	2853	3315	3336	3295	0	0	0	0	0	0	14.46	28.83	13.21
3544	end apogee: CONTROL_FINISHED_OK
state	3544	begin climb
3545	0.70	145.9	2859	2853	3332	3292	506.9	0.0	257	3681	0.90	1.80	121.32	1.523	10500	0.143	0.106	3126	3780	2714	2723	2706	0	0	0	0	0	0	13.83	13.65	13.10
3715	0.56	145.9	3127	3780	2723	2703	494.1	14.4	284	3725	0.15	1.65	0.00	0.000	5126	0.265	0.060	3098	2837	2712	2722	2703	0	0	0	0	0	0	13.74	13.89	28.83
4034	0.57	155.0	3099	2837	2723	2700	457.4	11.4	297	4042	0.00	0.00	4.57	1.473	8198	0.000	0.000	3098	2836	2686	2699	2674	0	0	0	0	0	0	28.83	28.83	13.54
4334	0.57	163.7	3099	2837	2714	2677	423.1	11.4	307	4351	0.00	0.00	12.90	1.643	8198	0.000	0.000	3098	2837	2648	2662	2634	0	0	0	0	0	0	28.83	28.83	13.57
4635	0.58	165.8	3099	2837	2657	2627	387.9	11.8	317	4642	0.00	2.38	0.00	0.000	516	0.000	0.075	3107	1442	2641	2656	2626	0	0	0	0	0	0	28.83	14.35	28.83
4671	0.59	184.7	3107	1441	2657	2626	383.8	10.9	324	4697	0.00	2.47	18.42	1.506	9222	0.000	0.099	3107	2835	2558	2570	2547	0	0	0	0	0	0	28.83	14.33	13.69
5001	0.59	184.7	3108	2836	2569	2542	341.1	13.0	339	5004	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	2835	2555	2569	2541	0	0	0	0	0	0	28.83	28.83	28.83
5301	0.59	184.7	3107	2835	2570	2541	303.0	12.6	349	5304	0.00	0.00	0.00	0.000	6	0.000	0.000	3107	2835	2555	2569	2541	0	0	0	0	0	0	28.83	28.83	28.83
5602	0.59	184.7	3107	2835	2570	2549	265.7	12.5	359	5604	0.00	0.00	0.00	0.000	6	0.000	0.000	3107	2834	2554	2568	2541	0	0	0	0	0	0	28.83	28.83	28.83
5902	0.59	185.9	3107	2835	2569	2540	229.6	11.8	379	5909	0.00	2.38	0.00	0.000	516	0.000	0.074	3116	1437	2554	2569	2540	0	0	0	0	0	0	28.83	14.45	28.83
5938	0.61	207.8	3116	1437	2564	2540	225.5	10.7	386	5967	0.00	2.47	20.08	1.470	9222	0.000	0.099	3115	2841	2462	2473	2452	0	0	0	0	0	0	28.83	14.47	13.77
6271	0.61	214.1	3116	2841	2475	2449	185.4	11.6	421	6280	0.00	1.73	3.15	1.117	8452	0.000	0.109	3115	3786	2446	2459	2433	0	0	0	0	0	0	28.83	14.38	13.55
6324	0.57	214.1	3115	3786	2467	2441	178.8	12.4	431	6332	0.00	1.60	1.10	0.311	9222	0.000	0.060	3122	2831	2444	2456	2432	0	0	0	0	0	0	28.83	14.40	14.14
6637	0.60	263.6	3123	2832	2469	2439	147.6	9.2	463	6692	0.00	2.40	46.17	1.239	8708	0.000	0.073	3125	1452	2233	2238	2228	0	0	0	0	0	0	28.83	14.14	13.69
6736	0.74	304.6	3126	1452	2237	2226	138.2	9.7	480	6779	0.00	2.50	35.03	1.146	9222	0.000	0.100	3125	2839	2069	2071	2068	0	0	0	0	0	0	28.83	14.19	13.59
7083	0.85	344.5	3126	2840	2070	2055	101.7	9.7	517	7124	0.17	2.42	32.22	1.146	10756	0.115	0.073	3198	1452	1902	1896	1909	0	0	0	0	0	0	14.29	14.09	13.69
7178	0.85	344.5	3199	1455	1895	1904	88.9	13.8	534	7187	0.00	2.50	0.00	0.000	1030	0.000	0.099	3199	2839	1899	1894	1904	0	0	0	0	0	0	28.83	14.15	28.83
7484	0.86	354.1	3200	2840	1894	1901	47.6	11.4	565	7493	0.00	2.47	2.88	0.322	8708	0.000	0.075	3208	1448	1873	1869	1877	0	0	0	0	0	0	28.83	14.31	14.16
7539	0.96	396.0	3209	1448	1882	1878	43.4	9.6	573	7568	0.00	2.50	19.85	0.320	9222	0.000	0.100	3208	2845	1702	1696	1708	0	0	0	0	0	0	28.83	14.31	14.14
7862	1.22	567.3	3209	2844	1704	1704	14.0	2.6	607	7950	0.25	1.73	76.10	0.227	10500	0.101	0.110	3302	3779	1002	994	1010	0	0	0	0	0	0	14.34	14.21	14.16
8158	end climb: SURFACE_DEPTH_REACHED
state	8158	begin surface coast
8178	end surface coast: CONTROL_FINISHED_OK
state	8178	begin surface