Glider dive log

MIZ Jul14 * SG197 * Dive index * Mission links * Dive 24 * 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 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 34 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 18 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 -6967.0005 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 -6967.0005

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 34 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 18 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 24 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 290714,105703,7056.762,-14435.512,16,1.4,36,28.3 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 1.81 MHEAD_RNG_PITCHd_Wd 300.2,84916,-22.3,-11.905,-26.01,1887

_SM_ANGLEo -72.9 D_GRID 1000

GPS2 290714,110745,7056.697,-14435.188,12,1.0,32,28.3

Post-dive calculations and measurements:

FINISH 1.0,1.019478 _10V_AH 12.78,0.000

SM_CCo 8802,29.25,0.186,0,0,541,675.07 FG_AHR_24Vo 0.000

SM_GC 1.99,8.20,2.03,29.25,0.097,0.077,0.186,184,2541,541,-7.18,0.85,675.07,0,0,0,0,0,0,14.50,14.55,14.45 FG_AHR_10Vo 0.000

RAFOS_CLK 523519 MEM 304372

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23446,721

IRIDIUM_FIX 7019.90,-14429.27,290714,082815 CAP_FILE_SIZE 124334,0

TT8_MAMPS 0.042693,0.042693 CFSIZE 1047117824,1038696448

HUMID 46.33 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.63976 INTR 0,9162.49,0x2378b6,7,5

TCM_TEMP 12.20 SOUNDSPEED 1449.6

XPDR_PINGS 0 EKF 8627,4257.600098,-8677.094727,1.003247,-0.338180,-0.048355,-0.030381,0.000297,0.002785,0.000095,0.001525,0.001525,0.000034

SC_FREEKB 3927424 CURRENT 0.068,149.83,1

TM_FREEKB 7688740 GPS 290714,133143,7057.322,-14436.601,36,0.9,57,28.3

_24V_AH 13.24,16.308

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 465 141.33 nil 0 0 0.00

Roll_motor 63 118 99.26 nil 0 0 0.00

VBD_pump_during_apogee 588 1454 11335.11 nil 0 0 0.00

VBD_pump_during_surface 29 185 71.99 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 8801 15 1811.15

Iridium_during_xfer 407 183 989.85 TMICL 8854 13 1570.72

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 20 9.17

TT8 0 0 0.00

LPSleep 6172 2 182.21

TT8_Active 765 11 114.64

TT8_Sampling 2158 30 840.13

TT8_CF8 76 43 42.70

TT8_Kalman 0 0 0.00

Analog_circuits 1835 10 234.59

GPS_charging 0 0 0.00

Compass 1071 5 68.47

RAFOS 1487 48 912.19

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

16 -0.80 -145.9 170 2560 471 631 0.0 0.0 0 83 0.00 0.00 -63.45 0.000 16386 0.000 0.000 169 2558 2185 2192 2179 0 0 0 0 0 0 28.83 28.83 28.83

85 -0.80 -145.9 169 2560 2194 2180 3.9 -4.6 6 133 11.00 0.00 -30.62 0.000 18950 0.465 0.000 2224 2559 3893 3866 3921 0 0 0 0 0 0 14.22 28.83 14.64

427 -0.70 -145.9 2225 2560 3866 3922 82.2 -20.3 43 436 0.15 2.45 0.00 0.000 2564 0.331 0.087 2260 1147 3895 3865 3925 0 0 0 0 0 0 14.42 14.53 28.83

530 -0.70 -145.9 2260 1145 3865 3922 99.9 -16.2 63 538 0.00 2.53 0.00 0.000 1030 0.000 0.116 2255 2551 3892 3864 3921 0 0 0 0 0 0 28.83 14.52 28.83

842 -0.70 -145.9 2255 2551 3866 3928 151.8 -16.1 95 845 0.00 0.00 0.00 0.000 6 0.000 0.000 2254 2551 3893 3865 3921 0 0 0 0 0 0 28.83 28.83 28.83

1142 -0.73 -145.9 2254 2552 3866 3922 194.7 -13.0 125 1151 0.00 2.42 0.00 0.000 516 0.000 0.092 2254 1141 3892 3864 3921 0 0 0 0 0 0 28.83 14.62 28.83

1210 -0.78 -145.9 2255 1140 3864 3922 203.2 -12.4 138 1220 0.00 2.53 0.00 0.000 1030 0.000 0.118 2249 2552 3892 3864 3921 0 0 0 0 0 0 28.83 14.62 28.83

1516 -0.83 -145.9 2251 2552 3863 3921 241.0 -12.0 169 1525 0.00 2.42 0.00 0.000 516 0.000 0.091 2253 1137 3891 3862 3921 0 0 0 0 0 0 28.83 14.64 28.83

1554 -0.90 -145.9 2250 1134 3862 3922 245.8 -12.1 176 1563 0.15 2.53 0.00 0.000 5126 0.138 0.117 2185 2551 3891 3861 3921 0 0 0 0 0 0 14.67 14.62 28.83

1859 -0.86 -145.9 2186 2551 3860 3920 291.5 -15.1 189 1868 0.00 2.42 0.00 0.000 516 0.000 0.093 2186 1137 3890 3860 3921 0 0 0 0 0 0 28.83 14.64 28.83

1942 -0.84 -145.9 2186 1137 3860 3921 303.6 -14.4 205 1952 0.17 2.53 0.00 0.000 3078 0.319 0.117 2213 2554 3890 3859 3921 0 0 0 0 0 0 14.55 14.66 28.83

2256 -0.84 -145.9 2213 2554 3860 3921 344.9 -13.1 217 2259 0.00 0.00 0.00 0.000 6 0.000 0.000 2212 2554 3890 3859 3921 0 0 0 0 0 0 28.83 28.83 28.83

2556 -0.84 -145.9 2213 2555 3859 3927 383.5 -12.9 227 2564 0.00 2.42 0.00 0.000 516 0.000 0.091 2212 1137 3889 3858 3921 0 0 0 0 0 0 28.83 14.71 28.83

2648 -0.87 -145.9 2213 1136 3858 3921 395.0 -12.2 245 2658 0.00 2.50 0.00 0.000 1030 0.000 0.114 2206 2549 3889 3858 3921 0 0 0 0 0 0 28.83 14.68 28.83

2982 -0.87 -145.9 2206 2550 3859 3921 438.6 -13.1 261 2991 0.00 2.40 0.00 0.000 516 0.000 0.090 2206 1139 3887 3858 3916 0 0 0 0 0 0 28.83 14.72 28.83

3040 -0.89 -145.9 2206 1139 3858 3921 446.1 -12.8 272 3050 0.00 2.50 0.00 0.000 1030 0.000 0.114 2195 2553 3889 3858 3920 0 0 0 0 0 0 28.83 14.70 28.83

3626 -0.89 -145.9 2193 2554 3858 3921 485.1 -13.4 283 3634 0.00 2.42 0.00 0.000 516 0.000 0.091 2197 1144 3888 3857 3920 0 0 0 0 0 0 28.83 14.66 28.83

3678 -0.89 -145.9 2196 1144 3858 3921 492.0 -13.2 293 3688 0.00 2.50 0.00 0.000 1030 0.000 0.114 2186 2552 3889 3858 3921 0 0 0 0 0 0 28.83 14.64 28.83

3751 end dive: TARGET_DEPTH_EXCEEDED

state 3751 begin apogee

3754 -0.16 0.0 2186 2400 3859 3921 501.9 -13.5 297 3936 0.98 0.00 175.38 1.287 10246 0.282 0.000 2437 2399 3287 3240 3334 0 0 0 0 0 0 14.53 28.83 13.43

3939 end apogee: CONTROL_FINISHED_OK

state 3939 begin climb

3940 0.80 145.9 2438 2400 3237 3332 507.9 0.0 303 4082 1.00 2.65 123.80 1.454 10756 0.151 0.093 2748 996 2683 2612 2755 0 0 0 0 0 0 13.99 13.81 13.24

4246 0.75 145.9 2753 1000 2603 2748 480.9 12.1 357 4255 0.00 2.55 0.00 0.000 1030 0.000 0.103 2748 2398 2677 2603 2752 0 0 0 0 0 0 28.83 14.18 28.83

4580 0.66 145.9 2749 2399 2603 2747 436.5 13.4 373 4583 0.17 0.00 0.00 0.000 4102 0.310 0.000 2712 2399 2674 2602 2747 0 0 0 0 0 0 14.26 28.83 28.83

4880 0.64 152.8 2712 2400 2603 2748 401.9 11.5 383 4883 0.00 0.00 0.00 0.000 6 0.000 0.000 2712 2399 2674 2602 2747 0 0 0 0 0 0 28.83 28.83 28.83

5180 0.62 158.1 2712 2400 2602 2745 367.4 11.6 393 5187 0.00 0.00 3.95 0.956 8198 0.000 0.000 2712 2398 2646 2569 2723 0 0 0 0 0 0 28.83 28.83 13.91

5480 0.63 166.0 2713 2400 2587 2736 333.0 11.5 403 5496 0.00 0.00 13.70 1.230 8198 0.000 0.000 2712 2399 2615 2536 2694 0 0 0 0 0 0 28.83 28.83 14.00

5780 0.63 171.3 2713 2401 2517 2682 297.9 11.6 413 5789 0.00 2.30 0.00 0.000 260 0.000 0.115 2712 3712 2602 2517 2687 0 0 0 0 0 0 28.83 14.59 28.83

5798 0.59 171.3 2712 3713 2520 2682 295.6 12.0 416 5807 0.08 2.22 0.00 0.000 5126 0.292 0.072 2687 2402 2599 2517 2681 0 0 0 0 0 0 14.50 14.61 28.83

6116 0.65 203.9 2687 2403 2518 2682 262.7 10.1 429 6153 0.00 0.00 33.38 1.180 8198 0.000 0.000 2687 2402 2457 2376 2539 0 0 0 0 0 0 28.83 28.83 13.95

6446 0.73 223.6 2688 2402 2356 2519 227.7 10.8 452 6472 0.12 0.00 15.43 1.121 10246 0.146 0.000 2737 2402 2369 2290 2448 0 0 0 0 0 0 14.60 28.83 13.99

6766 0.73 234.2 2738 2402 2282 2443 187.1 11.3 484 6773 0.00 0.00 3.12 0.715 8198 0.000 0.000 2736 2402 2335 2255 2416 0 0 0 0 0 0 28.83 28.83 13.92

7067 0.76 272.3 2738 2402 2278 2429 154.8 9.8 514 7116 0.00 2.55 41.30 1.057 8708 0.000 0.096 2745 998 2170 2084 2257 0 0 0 0 0 0 28.83 14.35 13.93

7186 0.84 297.3 2746 998 2076 2245 142.6 10.5 534 7215 0.00 2.53 21.27 1.021 9222 0.000 0.106 2745 2406 2074 1982 2166 0 0 0 0 0 0 28.83 14.42 13.86

7510 0.92 326.1 2746 2406 1961 2152 108.2 10.3 568 7545 0.12 2.40 24.55 0.996 10500 0.138 0.117 2804 3703 1951 1849 2053 0 0 0 0 0 0 14.51 14.35 13.94

7564 0.84 326.1 2804 3704 1844 2045 100.9 14.9 577 7575 0.22 2.20 0.00 0.000 5126 0.285 0.070 2763 2401 1943 1843 2044 0 0 0 0 0 0 14.30 14.41 28.83

7870 0.90 349.1 2764 2401 1838 2044 66.9 10.7 608 7884 0.00 0.00 8.62 0.331 8198 0.000 0.000 2763 2400 1867 1764 1970 0 0 0 0 0 0 28.83 28.83 14.33

8180 1.04 418.9 2764 2400 1793 1980 36.1 8.1 639 8222 0.17 2.35 34.45 0.276 10500 0.117 0.119 2835 3713 1581 1475 1687 0 0 0 0 0 0 14.56 14.50 14.39

8266 0.97 418.9 2836 3713 1490 1687 25.3 14.7 654 8275 0.17 2.20 0.00 0.000 5126 0.288 0.073 2807 2402 1589 1491 1687 0 0 0 0 0 0 14.43 14.54 28.83

8572 1.24 613.2 2808 2402 1497 1687 13.0 1.3 685 8670 0.22 2.42 89.75 0.213 10500 0.103 0.119 2902 3713 787 669 906 0 0 0 0 0 0 14.60 14.44 14.40

8759 end climb: SURFACE_DEPTH_REACHED

state 8759 begin surface coast

8779 end surface coast: CONTROL_FINISHED_OK

state 8779 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	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	34	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	18	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	-6967.0005	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	290714,105703,7056.762,-14435.512,16,1.4,36,28.3	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	1.81	MHEAD_RNG_PITCHd_Wd	300.2,84916,-22.3,-11.905,-26.01,1887
_SM_ANGLEo	-72.9	D_GRID	1000
GPS2	290714,110745,7056.697,-14435.188,12,1.0,32,28.3

FINISH	1.0,1.019478	_10V_AH	12.78,0.000
SM_CCo	8802,29.25,0.186,0,0,541,675.07	FG_AHR_24Vo	0.000
SM_GC	1.99,8.20,2.03,29.25,0.097,0.077,0.186,184,2541,541,-7.18,0.85,675.07,0,0,0,0,0,0,14.50,14.55,14.45	FG_AHR_10Vo	0.000
RAFOS_CLK	523519	MEM	304372
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23446,721
IRIDIUM_FIX	7019.90,-14429.27,290714,082815	CAP_FILE_SIZE	124334,0
TT8_MAMPS	0.042693,0.042693	CFSIZE	1047117824,1038696448
HUMID	46.33	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.63976	INTR	0,9162.49,0x2378b6,7,5
TCM_TEMP	12.20	SOUNDSPEED	1449.6
XPDR_PINGS	0	EKF	8627,4257.600098,-8677.094727,1.003247,-0.338180,-0.048355,-0.030381,0.000297,0.002785,0.000095,0.001525,0.001525,0.000034
SC_FREEKB	3927424	CURRENT	0.068,149.83,1
TM_FREEKB	7688740	GPS	290714,133143,7057.322,-14436.601,36,0.9,57,28.3
_24V_AH	13.24,16.308

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	465	141.33	nil	0	0	0.00
Roll_motor	63	118	99.26	nil	0	0	0.00
VBD_pump_during_apogee	588	1454	11335.11	nil	0	0	0.00
VBD_pump_during_surface	29	185	71.99	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	8801	15	1811.15
Iridium_during_xfer	407	183	989.85	TMICL	8854	13	1570.72
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	20	9.17
TT8	0	0	0.00
LPSleep	6172	2	182.21
TT8_Active	765	11	114.64
TT8_Sampling	2158	30	840.13
TT8_CF8	76	43	42.70
TT8_Kalman	0	0	0.00
Analog_circuits	1835	10	234.59
GPS_charging	0	0	0.00
Compass	1071	5	68.47
RAFOS	1487	48	912.19
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
16	-0.80	-145.9	170	2560	471	631	0.0	0.0	0	83	0.00	0.00	-63.45	0.000	16386	0.000	0.000	169	2558	2185	2192	2179	0	0	0	0	0	0	28.83	28.83	28.83
85	-0.80	-145.9	169	2560	2194	2180	3.9	-4.6	6	133	11.00	0.00	-30.62	0.000	18950	0.465	0.000	2224	2559	3893	3866	3921	0	0	0	0	0	0	14.22	28.83	14.64
427	-0.70	-145.9	2225	2560	3866	3922	82.2	-20.3	43	436	0.15	2.45	0.00	0.000	2564	0.331	0.087	2260	1147	3895	3865	3925	0	0	0	0	0	0	14.42	14.53	28.83
530	-0.70	-145.9	2260	1145	3865	3922	99.9	-16.2	63	538	0.00	2.53	0.00	0.000	1030	0.000	0.116	2255	2551	3892	3864	3921	0	0	0	0	0	0	28.83	14.52	28.83
842	-0.70	-145.9	2255	2551	3866	3928	151.8	-16.1	95	845	0.00	0.00	0.00	0.000	6	0.000	0.000	2254	2551	3893	3865	3921	0	0	0	0	0	0	28.83	28.83	28.83
1142	-0.73	-145.9	2254	2552	3866	3922	194.7	-13.0	125	1151	0.00	2.42	0.00	0.000	516	0.000	0.092	2254	1141	3892	3864	3921	0	0	0	0	0	0	28.83	14.62	28.83
1210	-0.78	-145.9	2255	1140	3864	3922	203.2	-12.4	138	1220	0.00	2.53	0.00	0.000	1030	0.000	0.118	2249	2552	3892	3864	3921	0	0	0	0	0	0	28.83	14.62	28.83
1516	-0.83	-145.9	2251	2552	3863	3921	241.0	-12.0	169	1525	0.00	2.42	0.00	0.000	516	0.000	0.091	2253	1137	3891	3862	3921	0	0	0	0	0	0	28.83	14.64	28.83
1554	-0.90	-145.9	2250	1134	3862	3922	245.8	-12.1	176	1563	0.15	2.53	0.00	0.000	5126	0.138	0.117	2185	2551	3891	3861	3921	0	0	0	0	0	0	14.67	14.62	28.83
1859	-0.86	-145.9	2186	2551	3860	3920	291.5	-15.1	189	1868	0.00	2.42	0.00	0.000	516	0.000	0.093	2186	1137	3890	3860	3921	0	0	0	0	0	0	28.83	14.64	28.83
1942	-0.84	-145.9	2186	1137	3860	3921	303.6	-14.4	205	1952	0.17	2.53	0.00	0.000	3078	0.319	0.117	2213	2554	3890	3859	3921	0	0	0	0	0	0	14.55	14.66	28.83
2256	-0.84	-145.9	2213	2554	3860	3921	344.9	-13.1	217	2259	0.00	0.00	0.00	0.000	6	0.000	0.000	2212	2554	3890	3859	3921	0	0	0	0	0	0	28.83	28.83	28.83
2556	-0.84	-145.9	2213	2555	3859	3927	383.5	-12.9	227	2564	0.00	2.42	0.00	0.000	516	0.000	0.091	2212	1137	3889	3858	3921	0	0	0	0	0	0	28.83	14.71	28.83
2648	-0.87	-145.9	2213	1136	3858	3921	395.0	-12.2	245	2658	0.00	2.50	0.00	0.000	1030	0.000	0.114	2206	2549	3889	3858	3921	0	0	0	0	0	0	28.83	14.68	28.83
2982	-0.87	-145.9	2206	2550	3859	3921	438.6	-13.1	261	2991	0.00	2.40	0.00	0.000	516	0.000	0.090	2206	1139	3887	3858	3916	0	0	0	0	0	0	28.83	14.72	28.83
3040	-0.89	-145.9	2206	1139	3858	3921	446.1	-12.8	272	3050	0.00	2.50	0.00	0.000	1030	0.000	0.114	2195	2553	3889	3858	3920	0	0	0	0	0	0	28.83	14.70	28.83
3626	-0.89	-145.9	2193	2554	3858	3921	485.1	-13.4	283	3634	0.00	2.42	0.00	0.000	516	0.000	0.091	2197	1144	3888	3857	3920	0	0	0	0	0	0	28.83	14.66	28.83
3678	-0.89	-145.9	2196	1144	3858	3921	492.0	-13.2	293	3688	0.00	2.50	0.00	0.000	1030	0.000	0.114	2186	2552	3889	3858	3921	0	0	0	0	0	0	28.83	14.64	28.83
3751	end dive: TARGET_DEPTH_EXCEEDED
state	3751	begin apogee
3754	-0.16	0.0	2186	2400	3859	3921	501.9	-13.5	297	3936	0.98	0.00	175.38	1.287	10246	0.282	0.000	2437	2399	3287	3240	3334	0	0	0	0	0	0	14.53	28.83	13.43
3939	end apogee: CONTROL_FINISHED_OK
state	3939	begin climb
3940	0.80	145.9	2438	2400	3237	3332	507.9	0.0	303	4082	1.00	2.65	123.80	1.454	10756	0.151	0.093	2748	996	2683	2612	2755	0	0	0	0	0	0	13.99	13.81	13.24
4246	0.75	145.9	2753	1000	2603	2748	480.9	12.1	357	4255	0.00	2.55	0.00	0.000	1030	0.000	0.103	2748	2398	2677	2603	2752	0	0	0	0	0	0	28.83	14.18	28.83
4580	0.66	145.9	2749	2399	2603	2747	436.5	13.4	373	4583	0.17	0.00	0.00	0.000	4102	0.310	0.000	2712	2399	2674	2602	2747	0	0	0	0	0	0	14.26	28.83	28.83
4880	0.64	152.8	2712	2400	2603	2748	401.9	11.5	383	4883	0.00	0.00	0.00	0.000	6	0.000	0.000	2712	2399	2674	2602	2747	0	0	0	0	0	0	28.83	28.83	28.83
5180	0.62	158.1	2712	2400	2602	2745	367.4	11.6	393	5187	0.00	0.00	3.95	0.956	8198	0.000	0.000	2712	2398	2646	2569	2723	0	0	0	0	0	0	28.83	28.83	13.91
5480	0.63	166.0	2713	2400	2587	2736	333.0	11.5	403	5496	0.00	0.00	13.70	1.230	8198	0.000	0.000	2712	2399	2615	2536	2694	0	0	0	0	0	0	28.83	28.83	14.00
5780	0.63	171.3	2713	2401	2517	2682	297.9	11.6	413	5789	0.00	2.30	0.00	0.000	260	0.000	0.115	2712	3712	2602	2517	2687	0	0	0	0	0	0	28.83	14.59	28.83
5798	0.59	171.3	2712	3713	2520	2682	295.6	12.0	416	5807	0.08	2.22	0.00	0.000	5126	0.292	0.072	2687	2402	2599	2517	2681	0	0	0	0	0	0	14.50	14.61	28.83
6116	0.65	203.9	2687	2403	2518	2682	262.7	10.1	429	6153	0.00	0.00	33.38	1.180	8198	0.000	0.000	2687	2402	2457	2376	2539	0	0	0	0	0	0	28.83	28.83	13.95
6446	0.73	223.6	2688	2402	2356	2519	227.7	10.8	452	6472	0.12	0.00	15.43	1.121	10246	0.146	0.000	2737	2402	2369	2290	2448	0	0	0	0	0	0	14.60	28.83	13.99
6766	0.73	234.2	2738	2402	2282	2443	187.1	11.3	484	6773	0.00	0.00	3.12	0.715	8198	0.000	0.000	2736	2402	2335	2255	2416	0	0	0	0	0	0	28.83	28.83	13.92
7067	0.76	272.3	2738	2402	2278	2429	154.8	9.8	514	7116	0.00	2.55	41.30	1.057	8708	0.000	0.096	2745	998	2170	2084	2257	0	0	0	0	0	0	28.83	14.35	13.93
7186	0.84	297.3	2746	998	2076	2245	142.6	10.5	534	7215	0.00	2.53	21.27	1.021	9222	0.000	0.106	2745	2406	2074	1982	2166	0	0	0	0	0	0	28.83	14.42	13.86
7510	0.92	326.1	2746	2406	1961	2152	108.2	10.3	568	7545	0.12	2.40	24.55	0.996	10500	0.138	0.117	2804	3703	1951	1849	2053	0	0	0	0	0	0	14.51	14.35	13.94
7564	0.84	326.1	2804	3704	1844	2045	100.9	14.9	577	7575	0.22	2.20	0.00	0.000	5126	0.285	0.070	2763	2401	1943	1843	2044	0	0	0	0	0	0	14.30	14.41	28.83
7870	0.90	349.1	2764	2401	1838	2044	66.9	10.7	608	7884	0.00	0.00	8.62	0.331	8198	0.000	0.000	2763	2400	1867	1764	1970	0	0	0	0	0	0	28.83	28.83	14.33
8180	1.04	418.9	2764	2400	1793	1980	36.1	8.1	639	8222	0.17	2.35	34.45	0.276	10500	0.117	0.119	2835	3713	1581	1475	1687	0	0	0	0	0	0	14.56	14.50	14.39
8266	0.97	418.9	2836	3713	1490	1687	25.3	14.7	654	8275	0.17	2.20	0.00	0.000	5126	0.288	0.073	2807	2402	1589	1491	1687	0	0	0	0	0	0	14.43	14.54	28.83
8572	1.24	613.2	2808	2402	1497	1687	13.0	1.3	685	8670	0.22	2.42	89.75	0.213	10500	0.103	0.119	2902	3713	787	669	906	0	0	0	0	0	0	14.60	14.44	14.40
8759	end climb: SURFACE_DEPTH_REACHED
state	8759	begin surface coast
8779	end surface coast: CONTROL_FINISHED_OK
state	8779	begin surface