Glider dive log

MIZ Jul14 * SG197 * Dive index * Mission links * Dive 25 * 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 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 35 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 -6968.2612 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 -6968.2612

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 35 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 25 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 290714,133143,7057.322,-14436.601,36,0.9,57,28.3 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 1.85 MHEAD_RNG_PITCHd_Wd 301.0,83685,-22.3,-11.905,-26.01,1887

_SM_ANGLEo -73.1 D_GRID 1000

GPS2 290714,134209,7057.229,-14436.470,11,1.1,31,28.3

Post-dive calculations and measurements:

FINISH 1.0,1.019380 _10V_AH 12.78,0.000

SM_CCo 9421,0.00,0.000,0,0,505,683.65 FG_AHR_24Vo 0.000

SM_GC 2.19,8.60,0.28,0.00,0.111,0.119,0.000,185,2564,505,-7.17,-0.48,683.65,0,0,0,0,0,0,14.42,14.45,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 43209 MEM 303984

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26704,745

IRIDIUM_FIX 7019.90,-14434.62,290714,110043 CAP_FILE_SIZE 127225,0

TT8_MAMPS 0.080892,0.080892 CFSIZE 1047117824,1038516224

HUMID 45.47 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.64952 INTR 0,9267.23,0x2378b6,7,5

TCM_TEMP 12.20 SOUNDSPEED 1449.5

XPDR_PINGS 0 EKF 8727,4258.234375,-8678.489258,1.004648,-1.589301,0.936043,-0.033440,0.001519,0.014284,0.000099,0.000025,0.000025,0.000050

SC_FREEKB 3926976 CURRENT 0.051,140.62,1

TM_FREEKB 7675280 GPS 290714,160750,7058.036,-14437.990,37,1.1,58,28.3

_24V_AH 13.25,16.637

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 465 143.83 nil 0 0 0.00

Roll_motor 72 120 116.01 nil 0 0 0.00

VBD_pump_during_apogee 627 1459 12137.28 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9361 16 2002.02

Iridium_during_xfer 390 187 970.63 TMICL 9415 13 1674.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 20 8.98

TT8 0 0 0.00

LPSleep 6199 2 183.02

TT8_Active 790 11 118.39

TT8_Sampling 2193 30 853.65

TT8_CF8 75 43 42.20

TT8_Kalman 0 0 0.00

Analog_circuits 1874 10 239.55

GPS_charging 0 0 0.00

Compass 1105 5 70.64

RAFOS 1499 48 919.55

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 -145.9 157 2541 468 629 0.0 0.0 0 83 0.00 0.00 -62.70 0.000 16386 0.000 0.000 155 2538 2154 2160 2148 0 0 0 0 0 0 28.83 28.83 28.83

85 -0.80 -145.9 155 2539 2161 2149 3.8 -3.8 6 134 11.10 2.47 -31.95 0.000 18948 0.466 0.110 2227 1145 3889 3865 3913 0 0 0 0 0 0 14.22 14.43 14.64

233 -0.66 -145.9 2228 1145 3865 3917 40.2 -23.0 33 243 0.25 2.55 0.00 0.000 3078 0.331 0.112 2272 2556 3891 3865 3917 0 0 0 0 0 0 14.33 14.46 28.83

538 -0.66 -145.9 2272 2560 3866 3920 95.7 -17.6 64 548 0.00 2.03 0.00 0.000 260 0.000 0.120 2266 3714 3892 3865 3919 0 0 0 0 0 0 28.83 14.54 28.83

587 -0.63 -145.9 2266 3718 3865 3920 104.5 -18.5 73 596 0.00 1.92 0.00 0.000 1030 0.000 0.070 2266 2547 3892 3865 3920 0 0 0 0 0 0 28.83 14.60 28.83

892 -0.65 -145.9 2266 2548 3866 3920 153.6 -14.7 104 902 0.00 2.40 0.00 0.000 516 0.000 0.090 2266 1144 3892 3865 3919 0 0 0 0 0 0 28.83 14.61 28.83

1006 -0.71 -145.9 2266 1144 3865 3927 169.4 -14.4 126 1013 0.00 2.53 0.00 0.000 1030 0.000 0.116 2259 2549 3891 3864 3919 0 0 0 0 0 0 28.83 14.59 28.83

1318 -0.75 -145.9 2260 2554 3864 3920 209.4 -12.1 158 1326 0.00 2.40 0.00 0.000 516 0.000 0.090 2259 1150 3891 3863 3919 0 0 0 0 0 0 28.83 14.64 28.83

1405 -0.82 -145.9 2260 1150 3863 3919 219.3 -11.1 175 1414 0.00 2.53 0.00 0.000 1030 0.000 0.119 2255 2558 3891 3863 3919 0 0 0 0 0 0 28.83 14.62 28.83

1730 -0.88 -145.9 2255 2558 3860 3919 257.4 -11.4 204 1740 0.15 2.42 0.00 0.000 4612 0.143 0.091 2197 1145 3887 3855 3919 0 0 0 0 0 0 14.68 14.62 28.83

1773 -0.88 -145.9 2198 1145 3860 3919 263.2 -13.7 212 1784 0.00 2.53 0.00 0.000 1030 0.000 0.117 2189 2559 3889 3860 3919 0 0 0 0 0 0 28.83 14.64 28.83

2098 -0.84 -145.9 2189 2560 3860 3919 310.5 -14.3 226 2106 0.12 2.42 0.00 0.000 2564 0.343 0.086 2212 1144 3888 3859 3918 0 0 0 0 0 0 14.57 14.69 28.83

2155 -0.87 -145.9 2212 1145 3859 3919 317.9 -12.8 237 2164 0.00 2.50 0.00 0.000 1030 0.000 0.115 2207 2550 3888 3859 3918 0 0 0 0 0 0 28.83 14.66 28.83

2460 -0.87 -145.9 2208 2551 3859 3919 358.0 -13.2 248 2470 0.00 2.40 0.00 0.000 516 0.000 0.090 2205 1142 3886 3855 3918 0 0 0 0 0 0 28.83 14.69 28.83

2534 -0.87 -145.9 2208 1143 3859 3921 367.6 -12.2 262 2542 0.00 2.50 0.00 0.000 1030 0.000 0.116 2201 2550 3888 3858 3918 0 0 0 0 0 0 28.83 14.68 28.83

2857 -0.87 -145.9 2202 2555 3858 3922 411.1 -13.6 276 2866 0.00 2.38 0.00 0.000 516 0.000 0.089 2201 1150 3888 3858 3918 0 0 0 0 0 0 28.83 14.71 28.83

2925 -0.87 -145.9 2201 1150 3858 3919 420.3 -13.3 289 2933 0.00 2.50 0.00 0.000 1030 0.000 0.115 2194 2558 3885 3853 3918 0 0 0 0 0 0 28.83 14.69 28.83

3252 -0.87 -145.9 2194 2558 3858 3919 465.1 -13.8 304 3262 0.00 2.40 0.00 0.000 516 0.000 0.089 2194 1150 3887 3857 3918 0 0 0 0 0 0 28.83 14.71 28.83

3325 -0.87 -145.9 2194 1151 3858 3919 475.0 -13.3 318 3334 0.00 2.53 0.00 0.000 1030 0.000 0.116 2188 2545 3887 3857 3918 0 0 0 0 0 0 28.83 14.69 28.83

3527 end dive: TARGET_DEPTH_EXCEEDED

state 3527 begin apogee

3530 -0.16 0.0 2188 2406 3858 3919 503.0 -13.8 328 3712 0.95 0.00 175.80 1.284 10246 0.282 0.000 2435 2404 3287 3239 3336 0 0 0 0 0 0 14.61 28.83 13.47

3715 end apogee: CONTROL_FINISHED_OK

state 3715 begin climb

3716 0.80 145.9 2435 2404 3235 3334 509.1 0.0 334 3858 1.02 2.65 123.60 1.460 10756 0.151 0.091 2756 997 2682 2608 2756 0 0 0 0 0 0 14.02 13.85 13.25

3992 0.74 145.9 2757 998 2601 2748 484.6 13.3 382 4000 0.00 2.55 0.00 0.000 1030 0.000 0.103 2756 2402 2674 2601 2747 0 0 0 0 0 0 28.83 14.17 28.83

4325 0.64 145.9 2757 2402 2600 2748 438.6 13.8 398 4328 0.25 0.00 0.00 0.000 4102 0.298 0.000 2700 2403 2673 2600 2747 0 0 0 0 0 0 14.30 28.83 28.83

4624 0.65 162.7 2701 2404 2600 2748 405.0 11.0 408 4641 0.00 0.00 13.40 1.292 8198 0.000 0.000 2699 2403 2627 2548 2707 0 0 0 0 0 0 28.83 28.83 13.89

4925 0.66 171.3 2701 2404 2529 2697 370.9 11.4 418 4934 0.00 2.40 2.20 0.407 8452 0.000 0.116 2700 3716 2592 2508 2676 0 0 0 0 0 0 28.83 14.52 13.81

4948 0.62 171.3 2701 3716 2519 2677 368.0 12.4 422 4955 0.00 2.20 0.00 0.000 1030 0.000 0.070 2704 2400 2598 2519 2678 0 0 0 0 0 0 28.83 14.57 28.83

5260 0.63 178.1 2705 2399 2527 2690 331.9 11.5 434 5275 0.00 0.00 12.80 1.225 8198 0.000 0.000 2704 2398 2566 2481 2652 0 0 0 0 0 0 28.83 28.83 13.98

5560 0.63 180.4 2705 2399 2467 2635 296.5 11.8 444 5569 0.00 2.33 0.00 0.000 260 0.000 0.116 2704 3719 2550 2466 2635 0 0 0 0 0 0 28.83 14.59 28.83

5584 0.60 180.4 2705 3720 2467 2635 293.4 12.5 448 5593 0.00 2.20 0.00 0.000 1030 0.000 0.070 2712 2398 2551 2467 2635 0 0 0 0 0 0 28.83 14.60 28.83

5897 0.60 184.3 2712 2397 2467 2635 256.2 11.7 460 5901 0.00 0.00 1.17 0.246 8198 0.000 0.000 2712 2397 2539 2455 2624 0 0 0 0 0 0 28.83 28.83 14.60

6197 0.61 200.9 2711 2397 2466 2631 221.4 11.0 486 6221 0.00 0.00 20.27 1.134 8198 0.000 0.000 2711 2396 2465 2385 2546 0 0 0 0 0 0 28.83 28.83 14.04

6517 0.66 233.6 2712 2397 2370 2536 185.7 10.1 518 6553 0.00 0.00 27.95 1.092 8198 0.000 0.000 2712 2397 2324 2239 2409 0 0 0 0 0 0 28.83 28.83 13.94

6847 0.76 283.6 2713 2397 2231 2401 154.4 9.2 551 6900 0.00 0.00 42.80 1.050 8198 0.000 0.000 2712 2397 2120 2028 2213 0 0 0 0 0 0 28.83 28.83 13.88

7197 0.90 344.8 2713 2396 2015 2203 122.7 8.6 586 7259 0.17 2.50 52.83 1.009 10756 0.119 0.095 2801 996 1873 1774 1972 0 0 0 0 0 0 14.54 14.26 13.83

7333 0.90 344.8 2801 998 1765 1955 104.8 13.2 610 7341 0.00 2.55 0.00 0.000 1030 0.000 0.107 2801 2403 1858 1763 1954 0 0 0 0 0 0 28.83 14.31 28.83

7645 0.90 344.8 2801 2405 1757 1955 60.7 13.8 642 7653 0.00 2.35 0.00 0.000 260 0.000 0.119 2800 3718 1855 1757 1954 0 0 0 0 0 0 28.83 14.48 28.83

7682 0.84 344.8 2801 3718 1756 1953 54.9 16.0 649 7691 0.20 2.22 0.00 0.000 5126 0.289 0.072 2766 2392 1854 1756 1953 0 0 0 0 0 0 14.41 14.53 28.83

7987 0.99 423.6 2767 2397 1755 1953 26.8 7.6 680 8030 0.15 0.00 33.62 0.249 10246 0.126 0.000 2825 2392 1562 1455 1669 0 0 0 0 0 0 14.60 28.83 14.41

9117 1.26 613.5 2827 2392 1479 1670 13.2 1.6 714 9219 0.22 2.53 88.35 0.215 11012 0.102 0.098 2921 991 789 668 910 0 0 0 0 0 0 14.57 14.42 14.35

9233 1.45 727.2 2923 992 667 910 8.5 5.7 732 9277 0.10 2.53 32.78 0.202 11270 0.164 0.105 2969 2403 498 379 617 0 0 0 0 0 0 14.43 14.41 14.33

9320 end climb: SURFACE_DEPTH_REACHED

state 9320 begin surface coast

9340 end surface coast: CONTROL_FINISHED_OK

state 9340 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	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	35	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	-6968.2612	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	290714,133143,7057.322,-14436.601,36,0.9,57,28.3	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	1.85	MHEAD_RNG_PITCHd_Wd	301.0,83685,-22.3,-11.905,-26.01,1887
_SM_ANGLEo	-73.1	D_GRID	1000
GPS2	290714,134209,7057.229,-14436.470,11,1.1,31,28.3

FINISH	1.0,1.019380	_10V_AH	12.78,0.000
SM_CCo	9421,0.00,0.000,0,0,505,683.65	FG_AHR_24Vo	0.000
SM_GC	2.19,8.60,0.28,0.00,0.111,0.119,0.000,185,2564,505,-7.17,-0.48,683.65,0,0,0,0,0,0,14.42,14.45,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	43209	MEM	303984
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26704,745
IRIDIUM_FIX	7019.90,-14434.62,290714,110043	CAP_FILE_SIZE	127225,0
TT8_MAMPS	0.080892,0.080892	CFSIZE	1047117824,1038516224
HUMID	45.47	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.64952	INTR	0,9267.23,0x2378b6,7,5
TCM_TEMP	12.20	SOUNDSPEED	1449.5
XPDR_PINGS	0	EKF	8727,4258.234375,-8678.489258,1.004648,-1.589301,0.936043,-0.033440,0.001519,0.014284,0.000099,0.000025,0.000025,0.000050
SC_FREEKB	3926976	CURRENT	0.051,140.62,1
TM_FREEKB	7675280	GPS	290714,160750,7058.036,-14437.990,37,1.1,58,28.3
_24V_AH	13.25,16.637

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	465	143.83	nil	0	0	0.00
Roll_motor	72	120	116.01	nil	0	0	0.00
VBD_pump_during_apogee	627	1459	12137.28	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9361	16	2002.02
Iridium_during_xfer	390	187	970.63	TMICL	9415	13	1674.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	20	8.98
TT8	0	0	0.00
LPSleep	6199	2	183.02
TT8_Active	790	11	118.39
TT8_Sampling	2193	30	853.65
TT8_CF8	75	43	42.20
TT8_Kalman	0	0	0.00
Analog_circuits	1874	10	239.55
GPS_charging	0	0	0.00
Compass	1105	5	70.64
RAFOS	1499	48	919.55
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	157	2541	468	629	0.0	0.0	0	83	0.00	0.00	-62.70	0.000	16386	0.000	0.000	155	2538	2154	2160	2148	0	0	0	0	0	0	28.83	28.83	28.83
85	-0.80	-145.9	155	2539	2161	2149	3.8	-3.8	6	134	11.10	2.47	-31.95	0.000	18948	0.466	0.110	2227	1145	3889	3865	3913	0	0	0	0	0	0	14.22	14.43	14.64
233	-0.66	-145.9	2228	1145	3865	3917	40.2	-23.0	33	243	0.25	2.55	0.00	0.000	3078	0.331	0.112	2272	2556	3891	3865	3917	0	0	0	0	0	0	14.33	14.46	28.83
538	-0.66	-145.9	2272	2560	3866	3920	95.7	-17.6	64	548	0.00	2.03	0.00	0.000	260	0.000	0.120	2266	3714	3892	3865	3919	0	0	0	0	0	0	28.83	14.54	28.83
587	-0.63	-145.9	2266	3718	3865	3920	104.5	-18.5	73	596	0.00	1.92	0.00	0.000	1030	0.000	0.070	2266	2547	3892	3865	3920	0	0	0	0	0	0	28.83	14.60	28.83
892	-0.65	-145.9	2266	2548	3866	3920	153.6	-14.7	104	902	0.00	2.40	0.00	0.000	516	0.000	0.090	2266	1144	3892	3865	3919	0	0	0	0	0	0	28.83	14.61	28.83
1006	-0.71	-145.9	2266	1144	3865	3927	169.4	-14.4	126	1013	0.00	2.53	0.00	0.000	1030	0.000	0.116	2259	2549	3891	3864	3919	0	0	0	0	0	0	28.83	14.59	28.83
1318	-0.75	-145.9	2260	2554	3864	3920	209.4	-12.1	158	1326	0.00	2.40	0.00	0.000	516	0.000	0.090	2259	1150	3891	3863	3919	0	0	0	0	0	0	28.83	14.64	28.83
1405	-0.82	-145.9	2260	1150	3863	3919	219.3	-11.1	175	1414	0.00	2.53	0.00	0.000	1030	0.000	0.119	2255	2558	3891	3863	3919	0	0	0	0	0	0	28.83	14.62	28.83
1730	-0.88	-145.9	2255	2558	3860	3919	257.4	-11.4	204	1740	0.15	2.42	0.00	0.000	4612	0.143	0.091	2197	1145	3887	3855	3919	0	0	0	0	0	0	14.68	14.62	28.83
1773	-0.88	-145.9	2198	1145	3860	3919	263.2	-13.7	212	1784	0.00	2.53	0.00	0.000	1030	0.000	0.117	2189	2559	3889	3860	3919	0	0	0	0	0	0	28.83	14.64	28.83
2098	-0.84	-145.9	2189	2560	3860	3919	310.5	-14.3	226	2106	0.12	2.42	0.00	0.000	2564	0.343	0.086	2212	1144	3888	3859	3918	0	0	0	0	0	0	14.57	14.69	28.83
2155	-0.87	-145.9	2212	1145	3859	3919	317.9	-12.8	237	2164	0.00	2.50	0.00	0.000	1030	0.000	0.115	2207	2550	3888	3859	3918	0	0	0	0	0	0	28.83	14.66	28.83
2460	-0.87	-145.9	2208	2551	3859	3919	358.0	-13.2	248	2470	0.00	2.40	0.00	0.000	516	0.000	0.090	2205	1142	3886	3855	3918	0	0	0	0	0	0	28.83	14.69	28.83
2534	-0.87	-145.9	2208	1143	3859	3921	367.6	-12.2	262	2542	0.00	2.50	0.00	0.000	1030	0.000	0.116	2201	2550	3888	3858	3918	0	0	0	0	0	0	28.83	14.68	28.83
2857	-0.87	-145.9	2202	2555	3858	3922	411.1	-13.6	276	2866	0.00	2.38	0.00	0.000	516	0.000	0.089	2201	1150	3888	3858	3918	0	0	0	0	0	0	28.83	14.71	28.83
2925	-0.87	-145.9	2201	1150	3858	3919	420.3	-13.3	289	2933	0.00	2.50	0.00	0.000	1030	0.000	0.115	2194	2558	3885	3853	3918	0	0	0	0	0	0	28.83	14.69	28.83
3252	-0.87	-145.9	2194	2558	3858	3919	465.1	-13.8	304	3262	0.00	2.40	0.00	0.000	516	0.000	0.089	2194	1150	3887	3857	3918	0	0	0	0	0	0	28.83	14.71	28.83
3325	-0.87	-145.9	2194	1151	3858	3919	475.0	-13.3	318	3334	0.00	2.53	0.00	0.000	1030	0.000	0.116	2188	2545	3887	3857	3918	0	0	0	0	0	0	28.83	14.69	28.83
3527	end dive: TARGET_DEPTH_EXCEEDED
state	3527	begin apogee
3530	-0.16	0.0	2188	2406	3858	3919	503.0	-13.8	328	3712	0.95	0.00	175.80	1.284	10246	0.282	0.000	2435	2404	3287	3239	3336	0	0	0	0	0	0	14.61	28.83	13.47
3715	end apogee: CONTROL_FINISHED_OK
state	3715	begin climb
3716	0.80	145.9	2435	2404	3235	3334	509.1	0.0	334	3858	1.02	2.65	123.60	1.460	10756	0.151	0.091	2756	997	2682	2608	2756	0	0	0	0	0	0	14.02	13.85	13.25
3992	0.74	145.9	2757	998	2601	2748	484.6	13.3	382	4000	0.00	2.55	0.00	0.000	1030	0.000	0.103	2756	2402	2674	2601	2747	0	0	0	0	0	0	28.83	14.17	28.83
4325	0.64	145.9	2757	2402	2600	2748	438.6	13.8	398	4328	0.25	0.00	0.00	0.000	4102	0.298	0.000	2700	2403	2673	2600	2747	0	0	0	0	0	0	14.30	28.83	28.83
4624	0.65	162.7	2701	2404	2600	2748	405.0	11.0	408	4641	0.00	0.00	13.40	1.292	8198	0.000	0.000	2699	2403	2627	2548	2707	0	0	0	0	0	0	28.83	28.83	13.89
4925	0.66	171.3	2701	2404	2529	2697	370.9	11.4	418	4934	0.00	2.40	2.20	0.407	8452	0.000	0.116	2700	3716	2592	2508	2676	0	0	0	0	0	0	28.83	14.52	13.81
4948	0.62	171.3	2701	3716	2519	2677	368.0	12.4	422	4955	0.00	2.20	0.00	0.000	1030	0.000	0.070	2704	2400	2598	2519	2678	0	0	0	0	0	0	28.83	14.57	28.83
5260	0.63	178.1	2705	2399	2527	2690	331.9	11.5	434	5275	0.00	0.00	12.80	1.225	8198	0.000	0.000	2704	2398	2566	2481	2652	0	0	0	0	0	0	28.83	28.83	13.98
5560	0.63	180.4	2705	2399	2467	2635	296.5	11.8	444	5569	0.00	2.33	0.00	0.000	260	0.000	0.116	2704	3719	2550	2466	2635	0	0	0	0	0	0	28.83	14.59	28.83
5584	0.60	180.4	2705	3720	2467	2635	293.4	12.5	448	5593	0.00	2.20	0.00	0.000	1030	0.000	0.070	2712	2398	2551	2467	2635	0	0	0	0	0	0	28.83	14.60	28.83
5897	0.60	184.3	2712	2397	2467	2635	256.2	11.7	460	5901	0.00	0.00	1.17	0.246	8198	0.000	0.000	2712	2397	2539	2455	2624	0	0	0	0	0	0	28.83	28.83	14.60
6197	0.61	200.9	2711	2397	2466	2631	221.4	11.0	486	6221	0.00	0.00	20.27	1.134	8198	0.000	0.000	2711	2396	2465	2385	2546	0	0	0	0	0	0	28.83	28.83	14.04
6517	0.66	233.6	2712	2397	2370	2536	185.7	10.1	518	6553	0.00	0.00	27.95	1.092	8198	0.000	0.000	2712	2397	2324	2239	2409	0	0	0	0	0	0	28.83	28.83	13.94
6847	0.76	283.6	2713	2397	2231	2401	154.4	9.2	551	6900	0.00	0.00	42.80	1.050	8198	0.000	0.000	2712	2397	2120	2028	2213	0	0	0	0	0	0	28.83	28.83	13.88
7197	0.90	344.8	2713	2396	2015	2203	122.7	8.6	586	7259	0.17	2.50	52.83	1.009	10756	0.119	0.095	2801	996	1873	1774	1972	0	0	0	0	0	0	14.54	14.26	13.83
7333	0.90	344.8	2801	998	1765	1955	104.8	13.2	610	7341	0.00	2.55	0.00	0.000	1030	0.000	0.107	2801	2403	1858	1763	1954	0	0	0	0	0	0	28.83	14.31	28.83
7645	0.90	344.8	2801	2405	1757	1955	60.7	13.8	642	7653	0.00	2.35	0.00	0.000	260	0.000	0.119	2800	3718	1855	1757	1954	0	0	0	0	0	0	28.83	14.48	28.83
7682	0.84	344.8	2801	3718	1756	1953	54.9	16.0	649	7691	0.20	2.22	0.00	0.000	5126	0.289	0.072	2766	2392	1854	1756	1953	0	0	0	0	0	0	14.41	14.53	28.83
7987	0.99	423.6	2767	2397	1755	1953	26.8	7.6	680	8030	0.15	0.00	33.62	0.249	10246	0.126	0.000	2825	2392	1562	1455	1669	0	0	0	0	0	0	14.60	28.83	14.41
9117	1.26	613.5	2827	2392	1479	1670	13.2	1.6	714	9219	0.22	2.53	88.35	0.215	11012	0.102	0.098	2921	991	789	668	910	0	0	0	0	0	0	14.57	14.42	14.35
9233	1.45	727.2	2923	992	667	910	8.5	5.7	732	9277	0.10	2.53	32.78	0.202	11270	0.164	0.105	2969	2403	498	379	617	0	0	0	0	0	0	14.43	14.41	14.33
9320	end climb: SURFACE_DEPTH_REACHED
state	9320	begin surface coast
9340	end surface coast: CONTROL_FINISHED_OK
state	9340	begin surface