Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 25 * 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 25 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 40 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 -4705.5146 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 -4705.5146

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 40 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 25 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 290714,201225,7100.634,-14422.904,22,0.8,42,22.4 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 1.37 MHEAD_RNG_PITCHd_Wd 338.2,65968,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -75.2 D_GRID 1000

GPS2 290714,202250,7100.617,-14422.981,4,0.9,25,22.4

Post-dive calculations and measurements:

FINISH 0.3,1.019577 _10V_AH 13.25,0.000

SM_CCo 8262,20.08,0.202,0,0,538,681.20 FG_AHR_24Vo 0.000

SM_GC 1.15,9.43,1.88,20.08,0.070,0.059,0.202,208,2713,538,-8.40,1.36,681.20,0,0,0,0,0,0,14.33,14.35,14.24 FG_AHR_10Vo 0.000

RAFOS_CLK 378 MEM 304044

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23400,695

IRIDIUM_FIX 7026.32,-14426.97,290714,174645 CAP_FILE_SIZE 123341,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2086928384

HUMID 47.12 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.61163 INTR 0,8966.32,0x2378b6,7,5

TCM_TEMP 13.20 SOUNDSPEED 1449.3

XPDR_PINGS 7 EKF 8360,4261.728027,-8662.701172,0.281113,0.333209,-0.401944,-0.153875,0.000148,0.001395,0.000095,0.000025,0.000025,0.000034

SC_FREEKB 3926944 CURRENT 0.049,122.32,1

TM_FREEKB 7639684 GPS 290714,224224,7101.633,-14422.211,24,0.9,44,22.4

_24V_AH 13.02,9.397

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 405 133.03 nil 0 0 0.00

Roll_motor 67 124 110.20 nil 0 0 0.00

VBD_pump_during_apogee 523 1739 11857.70 nil 0 0 0.00

VBD_pump_during_surface 20 201 52.79 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 8253 15 1619.44

Iridium_during_xfer 395 179 924.97 TMICL 8309 13 1412.01

Transponder_ping 3 420 17.77 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.47

TT8 0 0 0.00

LPSleep 6022 2 184.32

TT8_Active 712 9 89.40

TT8_Sampling 2094 28 803.54

TT8_CF8 77 35 36.88

TT8_Kalman 0 0 0.00

Analog_circuits 1746 10 231.37

GPS_charging 0 0 0.00

Compass 1036 0 10.30

RAFOS 0 0 0.00

Transponder 13 30 5.23

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

20 -0.70 -145.9 168 2702 488 582 0.0 0.0 0 98 0.00 0.00 -74.80 0.000 16386 0.000 0.000 163 2705 2563 2571 2555 0 0 0 0 0 0 28.83 28.83 28.83

100 -0.70 -145.9 161 2702 2578 2556 4.7 -7.1 7 143 12.50 2.47 -20.27 0.000 18948 0.405 0.097 2676 1298 3915 3975 3856 0 0 0 0 0 0 14.00 14.21 14.40

257 -0.61 -145.9 2676 1298 3976 3860 49.8 -22.0 36 265 0.20 2.53 0.00 0.000 3078 0.294 0.099 2708 2707 3917 3975 3860 0 0 0 0 0 0 14.16 14.25 28.83

569 -0.61 -145.9 2708 2707 3976 3862 104.2 -15.9 68 572 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2707 3918 3975 3862 0 0 0 0 0 0 28.83 28.83 28.83

869 -0.61 -145.9 2708 2707 3976 3862 149.0 -14.5 98 872 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2707 3918 3975 3862 0 0 0 0 0 0 28.83 28.83 28.83

1169 -0.66 -145.9 2708 2707 3976 3862 188.3 -12.1 128 1172 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2707 3918 3975 3862 0 0 0 0 0 0 28.83 28.83 28.83

1469 -0.74 -145.9 2708 2708 3976 3862 222.6 -11.0 158 1479 0.12 1.92 0.00 0.000 4356 0.134 0.109 2645 3787 3917 3974 3861 0 0 0 0 0 0 14.50 14.40 28.83

1578 -0.68 -145.9 2646 3787 3975 3860 239.6 -16.3 179 1588 0.15 1.85 0.00 0.000 3078 0.246 0.061 2685 2690 3917 3974 3861 0 0 0 0 0 0 14.35 14.50 28.83

1903 -0.73 -145.9 2685 2690 3974 3861 278.1 -11.4 196 1906 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2690 3917 3973 3861 0 0 0 0 0 0 28.83 28.83 28.83

2203 -0.79 -145.9 2685 2691 3973 3861 311.8 -11.1 206 2212 0.00 1.92 0.00 0.000 260 0.000 0.112 2678 3787 3916 3972 3860 0 0 0 0 0 0 28.83 14.50 28.83

2281 -0.79 -145.9 2679 3787 3973 3861 321.3 -12.6 221 2289 0.00 1.83 0.00 0.000 1030 0.000 0.062 2678 2695 3916 3972 3860 0 0 0 0 0 0 28.83 14.56 28.83

2599 -0.84 -145.9 2679 2695 3972 3860 357.7 -11.5 234 2608 0.12 1.92 0.00 0.000 4356 0.142 0.108 2618 3789 3915 3971 3860 0 0 0 0 0 0 14.54 14.52 28.83

2647 -0.75 -145.9 2619 3791 3971 3861 365.1 -16.2 243 2655 0.17 1.83 0.00 0.000 3078 0.275 0.061 2658 2697 3915 3970 3860 0 0 0 0 0 0 14.42 14.57 28.83

2964 -0.75 -145.9 2659 2697 3970 3860 405.1 -12.3 256 2967 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2696 3915 3970 3860 0 0 0 0 0 0 28.83 28.83 28.83

3266 -0.75 -145.9 2659 2698 3971 3860 441.8 -12.1 266 3268 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2697 3915 3970 3860 0 0 0 0 0 0 28.83 28.83 28.83

3564 -0.75 -145.9 2656 2696 3971 3860 478.5 -12.2 276 3572 0.00 1.92 0.00 0.000 260 0.000 0.111 2652 3793 3914 3970 3859 0 0 0 0 0 0 28.83 14.54 28.83

3671 -0.75 -145.9 2653 3794 3970 3860 492.8 -13.8 297 3679 0.00 1.83 0.00 0.000 1030 0.000 0.062 2652 2701 3914 3970 3859 0 0 0 0 0 0 28.83 14.57 28.83

3749 end dive: TARGET_DEPTH_EXCEEDED

state 3749 begin apogee

3752 -0.13 0.0 2652 2845 3971 3859 502.6 -12.7 302 3880 0.77 0.00 124.15 1.740 10246 0.242 0.000 2856 2846 3316 3336 3296 0 0 0 0 0 0 14.45 28.83 13.24

3883 end apogee: CONTROL_FINISHED_OK

state 3883 begin climb

3884 0.70 145.9 2857 2847 3332 3291 506.1 0.0 306 4024 0.93 0.00 123.05 1.623 10246 0.142 0.000 3127 2845 2715 2722 2709 0 0 0 0 0 0 13.84 28.83 13.02

4319 0.63 145.9 3128 2846 2723 2699 458.0 13.4 321 4321 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2846 2710 2722 2699 0 0 0 0 0 0 28.83 28.83 28.83

4619 0.55 145.9 3128 2846 2723 2698 417.9 13.2 331 4627 0.15 2.40 0.00 0.000 4612 0.283 0.073 3102 1449 2710 2722 2698 0 0 0 0 0 0 14.18 14.32 28.83

4686 0.58 180.7 3103 1448 2723 2698 410.5 10.0 344 4725 0.00 2.47 29.40 1.565 9222 0.000 0.100 3102 2835 2572 2583 2562 0 0 0 0 0 0 28.83 14.33 13.56

5049 0.58 180.7 3103 2836 2584 2557 364.5 13.0 365 5057 0.00 2.40 0.00 0.000 516 0.000 0.074 3112 1439 2569 2582 2557 0 0 0 0 0 0 28.83 14.33 28.83

5100 0.58 180.7 3113 1439 2584 2557 358.1 12.1 375 5108 0.00 2.50 0.00 0.000 1030 0.000 0.099 3112 2840 2570 2583 2557 0 0 0 0 0 0 28.83 14.36 28.83

5413 0.58 180.7 3113 2841 2584 2558 316.4 13.5 387 5421 0.00 2.38 0.00 0.000 516 0.000 0.073 3121 1448 2567 2578 2556 0 0 0 0 0 0 28.83 14.42 28.83

5445 0.58 180.7 3121 1448 2584 2556 312.4 12.5 393 5452 0.00 2.47 0.00 0.000 1030 0.000 0.099 3121 2843 2569 2583 2556 0 0 0 0 0 0 28.83 14.41 28.83

5777 0.58 180.7 3120 2844 2584 2557 267.2 13.7 409 5785 0.00 2.38 0.00 0.000 516 0.000 0.073 3127 1448 2569 2583 2556 0 0 0 0 0 0 28.83 14.46 28.83

5809 0.58 180.7 3129 1449 2584 2557 262.8 12.5 415 5817 0.00 2.47 0.00 0.000 1030 0.000 0.099 3128 2848 2569 2583 2556 0 0 0 0 0 0 28.83 14.45 28.83

6121 0.58 180.7 3128 2848 2584 2556 221.6 12.9 443 6130 0.12 2.38 0.00 0.000 4612 0.274 0.071 3108 1448 2569 2583 2556 0 0 0 0 0 0 14.38 14.47 28.83

6169 0.66 209.8 3109 1449 2583 2560 216.4 10.3 452 6205 0.00 2.45 24.35 1.388 9222 0.000 0.099 3108 2841 2454 2464 2445 0 0 0 0 0 0 28.83 14.46 13.79

6499 0.68 242.5 3108 2841 2464 2441 178.5 10.1 487 6534 0.00 2.50 27.83 1.301 8708 0.000 0.074 3115 1445 2322 2328 2317 0 0 0 0 0 0 28.83 14.19 13.72

6574 0.81 295.9 3116 1445 2324 2314 171.1 9.0 500 6629 0.17 2.50 45.72 1.236 11270 0.111 0.099 3185 2840 2104 2101 2108 0 0 0 0 0 0 14.26 14.22 13.48

6933 0.81 295.9 3192 2840 2101 2092 116.4 14.3 539 6941 0.00 2.42 0.00 0.000 516 0.000 0.075 3192 1443 2096 2100 2092 0 0 0 0 0 0 28.83 14.28 28.83

7000 0.81 295.9 3193 1443 2101 2092 107.6 12.4 552 7009 0.00 2.50 0.00 0.000 1030 0.000 0.099 3192 2841 2095 2100 2091 0 0 0 0 0 0 28.83 14.30 28.83

7305 0.81 295.9 3192 2841 2101 2090 67.1 12.6 583 7313 0.00 2.40 0.00 0.000 516 0.000 0.075 3199 1443 2095 2101 2089 0 0 0 0 0 0 28.83 14.38 28.83

7322 0.82 298.4 3205 1444 2102 2089 65.2 11.8 586 7333 0.00 2.50 0.00 0.000 1030 0.000 0.099 3201 2844 2094 2101 2088 0 0 0 0 0 0 28.83 14.35 28.83

7627 0.87 372.6 3202 2847 2102 2089 36.2 7.9 617 7667 0.00 2.40 32.62 0.299 8708 0.000 0.072 3210 1449 1793 1784 1803 0 0 0 0 0 0 28.83 14.35 14.21

7726 0.99 422.9 3209 1449 1789 1803 27.7 9.2 633 7756 0.00 2.50 22.48 0.269 9222 0.000 0.100 3210 2850 1589 1582 1596 0 0 0 0 0 0 28.83 14.33 14.23

8061 1.30 636.4 3210 2851 1588 1586 13.4 0.3 668 8165 0.35 1.70 93.93 0.227 10500 0.086 0.112 3337 3799 718 703 733 0 0 0 0 0 0 14.43 14.28 14.21

8228 end climb: SURFACE_DEPTH_REACHED

state 8228 begin surface coast

8239 end surface coast: CONTROL_FINISHED_OK

state 8239 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	25	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	40	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	-4705.5146	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	290714,201225,7100.634,-14422.904,22,0.8,42,22.4	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	1.37	MHEAD_RNG_PITCHd_Wd	338.2,65968,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-75.2	D_GRID	1000
GPS2	290714,202250,7100.617,-14422.981,4,0.9,25,22.4

FINISH	0.3,1.019577	_10V_AH	13.25,0.000
SM_CCo	8262,20.08,0.202,0,0,538,681.20	FG_AHR_24Vo	0.000
SM_GC	1.15,9.43,1.88,20.08,0.070,0.059,0.202,208,2713,538,-8.40,1.36,681.20,0,0,0,0,0,0,14.33,14.35,14.24	FG_AHR_10Vo	0.000
RAFOS_CLK	378	MEM	304044
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23400,695
IRIDIUM_FIX	7026.32,-14426.97,290714,174645	CAP_FILE_SIZE	123341,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2086928384
HUMID	47.12	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.61163	INTR	0,8966.32,0x2378b6,7,5
TCM_TEMP	13.20	SOUNDSPEED	1449.3
XPDR_PINGS	7	EKF	8360,4261.728027,-8662.701172,0.281113,0.333209,-0.401944,-0.153875,0.000148,0.001395,0.000095,0.000025,0.000025,0.000034
SC_FREEKB	3926944	CURRENT	0.049,122.32,1
TM_FREEKB	7639684	GPS	290714,224224,7101.633,-14422.211,24,0.9,44,22.4
_24V_AH	13.02,9.397

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	405	133.03	nil	0	0	0.00
Roll_motor	67	124	110.20	nil	0	0	0.00
VBD_pump_during_apogee	523	1739	11857.70	nil	0	0	0.00
VBD_pump_during_surface	20	201	52.79	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	8253	15	1619.44
Iridium_during_xfer	395	179	924.97	TMICL	8309	13	1412.01
Transponder_ping	3	420	17.77	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.47
TT8	0	0	0.00
LPSleep	6022	2	184.32
TT8_Active	712	9	89.40
TT8_Sampling	2094	28	803.54
TT8_CF8	77	35	36.88
TT8_Kalman	0	0	0.00
Analog_circuits	1746	10	231.37
GPS_charging	0	0	0.00
Compass	1036	0	10.30
RAFOS	0	0	0.00
Transponder	13	30	5.23

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
20	-0.70	-145.9	168	2702	488	582	0.0	0.0	0	98	0.00	0.00	-74.80	0.000	16386	0.000	0.000	163	2705	2563	2571	2555	0	0	0	0	0	0	28.83	28.83	28.83
100	-0.70	-145.9	161	2702	2578	2556	4.7	-7.1	7	143	12.50	2.47	-20.27	0.000	18948	0.405	0.097	2676	1298	3915	3975	3856	0	0	0	0	0	0	14.00	14.21	14.40
257	-0.61	-145.9	2676	1298	3976	3860	49.8	-22.0	36	265	0.20	2.53	0.00	0.000	3078	0.294	0.099	2708	2707	3917	3975	3860	0	0	0	0	0	0	14.16	14.25	28.83
569	-0.61	-145.9	2708	2707	3976	3862	104.2	-15.9	68	572	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2707	3918	3975	3862	0	0	0	0	0	0	28.83	28.83	28.83
869	-0.61	-145.9	2708	2707	3976	3862	149.0	-14.5	98	872	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2707	3918	3975	3862	0	0	0	0	0	0	28.83	28.83	28.83
1169	-0.66	-145.9	2708	2707	3976	3862	188.3	-12.1	128	1172	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2707	3918	3975	3862	0	0	0	0	0	0	28.83	28.83	28.83
1469	-0.74	-145.9	2708	2708	3976	3862	222.6	-11.0	158	1479	0.12	1.92	0.00	0.000	4356	0.134	0.109	2645	3787	3917	3974	3861	0	0	0	0	0	0	14.50	14.40	28.83
1578	-0.68	-145.9	2646	3787	3975	3860	239.6	-16.3	179	1588	0.15	1.85	0.00	0.000	3078	0.246	0.061	2685	2690	3917	3974	3861	0	0	0	0	0	0	14.35	14.50	28.83
1903	-0.73	-145.9	2685	2690	3974	3861	278.1	-11.4	196	1906	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2690	3917	3973	3861	0	0	0	0	0	0	28.83	28.83	28.83
2203	-0.79	-145.9	2685	2691	3973	3861	311.8	-11.1	206	2212	0.00	1.92	0.00	0.000	260	0.000	0.112	2678	3787	3916	3972	3860	0	0	0	0	0	0	28.83	14.50	28.83
2281	-0.79	-145.9	2679	3787	3973	3861	321.3	-12.6	221	2289	0.00	1.83	0.00	0.000	1030	0.000	0.062	2678	2695	3916	3972	3860	0	0	0	0	0	0	28.83	14.56	28.83
2599	-0.84	-145.9	2679	2695	3972	3860	357.7	-11.5	234	2608	0.12	1.92	0.00	0.000	4356	0.142	0.108	2618	3789	3915	3971	3860	0	0	0	0	0	0	14.54	14.52	28.83
2647	-0.75	-145.9	2619	3791	3971	3861	365.1	-16.2	243	2655	0.17	1.83	0.00	0.000	3078	0.275	0.061	2658	2697	3915	3970	3860	0	0	0	0	0	0	14.42	14.57	28.83
2964	-0.75	-145.9	2659	2697	3970	3860	405.1	-12.3	256	2967	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2696	3915	3970	3860	0	0	0	0	0	0	28.83	28.83	28.83
3266	-0.75	-145.9	2659	2698	3971	3860	441.8	-12.1	266	3268	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2697	3915	3970	3860	0	0	0	0	0	0	28.83	28.83	28.83
3564	-0.75	-145.9	2656	2696	3971	3860	478.5	-12.2	276	3572	0.00	1.92	0.00	0.000	260	0.000	0.111	2652	3793	3914	3970	3859	0	0	0	0	0	0	28.83	14.54	28.83
3671	-0.75	-145.9	2653	3794	3970	3860	492.8	-13.8	297	3679	0.00	1.83	0.00	0.000	1030	0.000	0.062	2652	2701	3914	3970	3859	0	0	0	0	0	0	28.83	14.57	28.83
3749	end dive: TARGET_DEPTH_EXCEEDED
state	3749	begin apogee
3752	-0.13	0.0	2652	2845	3971	3859	502.6	-12.7	302	3880	0.77	0.00	124.15	1.740	10246	0.242	0.000	2856	2846	3316	3336	3296	0	0	0	0	0	0	14.45	28.83	13.24
3883	end apogee: CONTROL_FINISHED_OK
state	3883	begin climb
3884	0.70	145.9	2857	2847	3332	3291	506.1	0.0	306	4024	0.93	0.00	123.05	1.623	10246	0.142	0.000	3127	2845	2715	2722	2709	0	0	0	0	0	0	13.84	28.83	13.02
4319	0.63	145.9	3128	2846	2723	2699	458.0	13.4	321	4321	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2846	2710	2722	2699	0	0	0	0	0	0	28.83	28.83	28.83
4619	0.55	145.9	3128	2846	2723	2698	417.9	13.2	331	4627	0.15	2.40	0.00	0.000	4612	0.283	0.073	3102	1449	2710	2722	2698	0	0	0	0	0	0	14.18	14.32	28.83
4686	0.58	180.7	3103	1448	2723	2698	410.5	10.0	344	4725	0.00	2.47	29.40	1.565	9222	0.000	0.100	3102	2835	2572	2583	2562	0	0	0	0	0	0	28.83	14.33	13.56
5049	0.58	180.7	3103	2836	2584	2557	364.5	13.0	365	5057	0.00	2.40	0.00	0.000	516	0.000	0.074	3112	1439	2569	2582	2557	0	0	0	0	0	0	28.83	14.33	28.83
5100	0.58	180.7	3113	1439	2584	2557	358.1	12.1	375	5108	0.00	2.50	0.00	0.000	1030	0.000	0.099	3112	2840	2570	2583	2557	0	0	0	0	0	0	28.83	14.36	28.83
5413	0.58	180.7	3113	2841	2584	2558	316.4	13.5	387	5421	0.00	2.38	0.00	0.000	516	0.000	0.073	3121	1448	2567	2578	2556	0	0	0	0	0	0	28.83	14.42	28.83
5445	0.58	180.7	3121	1448	2584	2556	312.4	12.5	393	5452	0.00	2.47	0.00	0.000	1030	0.000	0.099	3121	2843	2569	2583	2556	0	0	0	0	0	0	28.83	14.41	28.83
5777	0.58	180.7	3120	2844	2584	2557	267.2	13.7	409	5785	0.00	2.38	0.00	0.000	516	0.000	0.073	3127	1448	2569	2583	2556	0	0	0	0	0	0	28.83	14.46	28.83
5809	0.58	180.7	3129	1449	2584	2557	262.8	12.5	415	5817	0.00	2.47	0.00	0.000	1030	0.000	0.099	3128	2848	2569	2583	2556	0	0	0	0	0	0	28.83	14.45	28.83
6121	0.58	180.7	3128	2848	2584	2556	221.6	12.9	443	6130	0.12	2.38	0.00	0.000	4612	0.274	0.071	3108	1448	2569	2583	2556	0	0	0	0	0	0	14.38	14.47	28.83
6169	0.66	209.8	3109	1449	2583	2560	216.4	10.3	452	6205	0.00	2.45	24.35	1.388	9222	0.000	0.099	3108	2841	2454	2464	2445	0	0	0	0	0	0	28.83	14.46	13.79
6499	0.68	242.5	3108	2841	2464	2441	178.5	10.1	487	6534	0.00	2.50	27.83	1.301	8708	0.000	0.074	3115	1445	2322	2328	2317	0	0	0	0	0	0	28.83	14.19	13.72
6574	0.81	295.9	3116	1445	2324	2314	171.1	9.0	500	6629	0.17	2.50	45.72	1.236	11270	0.111	0.099	3185	2840	2104	2101	2108	0	0	0	0	0	0	14.26	14.22	13.48
6933	0.81	295.9	3192	2840	2101	2092	116.4	14.3	539	6941	0.00	2.42	0.00	0.000	516	0.000	0.075	3192	1443	2096	2100	2092	0	0	0	0	0	0	28.83	14.28	28.83
7000	0.81	295.9	3193	1443	2101	2092	107.6	12.4	552	7009	0.00	2.50	0.00	0.000	1030	0.000	0.099	3192	2841	2095	2100	2091	0	0	0	0	0	0	28.83	14.30	28.83
7305	0.81	295.9	3192	2841	2101	2090	67.1	12.6	583	7313	0.00	2.40	0.00	0.000	516	0.000	0.075	3199	1443	2095	2101	2089	0	0	0	0	0	0	28.83	14.38	28.83
7322	0.82	298.4	3205	1444	2102	2089	65.2	11.8	586	7333	0.00	2.50	0.00	0.000	1030	0.000	0.099	3201	2844	2094	2101	2088	0	0	0	0	0	0	28.83	14.35	28.83
7627	0.87	372.6	3202	2847	2102	2089	36.2	7.9	617	7667	0.00	2.40	32.62	0.299	8708	0.000	0.072	3210	1449	1793	1784	1803	0	0	0	0	0	0	28.83	14.35	14.21
7726	0.99	422.9	3209	1449	1789	1803	27.7	9.2	633	7756	0.00	2.50	22.48	0.269	9222	0.000	0.100	3210	2850	1589	1582	1596	0	0	0	0	0	0	28.83	14.33	14.23
8061	1.30	636.4	3210	2851	1588	1586	13.4	0.3	668	8165	0.35	1.70	93.93	0.227	10500	0.086	0.112	3337	3799	718	703	733	0	0	0	0	0	0	14.43	14.28	14.21
8228	end climb: SURFACE_DEPTH_REACHED
state	8228	begin surface coast
8239	end surface coast: CONTROL_FINISHED_OK
state	8239	begin surface