Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 25 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 ESCAPE_HEADING 0 C_ROLL_CLIMB 2800 ALTIM_FREQUENCY 13

MISSION 5 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 26 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 15 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 688.85968 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.6

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 3349 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 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 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 -21650.83 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 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044001359

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00063958467

T_WATCHDOG 10 PITCH_MIN 200 MINV_10V 11 SEABIRD_T_I 2.6420161e-05

RELAUNCH 1 PITCH_MAX 3900 FG_AHR_10V 0 SEABIRD_T_J 3.2747387e-06

APOGEE_PITCH -5 C_PITCH 2470 FG_AHR_24V 0 SEABIRD_C_G -9.7531748

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1147131

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -64.963387 SEABIRD_C_I -0.0015239087

GLIDE_SLOPE 40 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001159754 SEABIRD_C_J 0.00019379995

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 54269 PITCH_TIMEOUT 17 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 0.0099999998 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HD_A 0.0031999999 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3771 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 2.1999999e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2200 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 3900 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 200 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 0.0012300001 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 40 PRESSURE_SLOPE 0.0001159754 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -64.963387 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0031999999 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 2.1999999e-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 T_GPS 5

CAPUPLOAD 0 ID 199 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -21650.83

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 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 2470 LOGGERDEVICE4 -1 ROLL_MAX 3771 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2800 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2200 MASS 54269 ROLL_MIN 218 UNCOM_BLEED 60

C_VBD 3349 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 26 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 15 USE_ICE 0

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 5 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 -9.7531748 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1147131 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0015239087 VBD_MIN 500

DIVE 25 N_FILEKB 8 SEABIRD_C_J 0.00019379995 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 N_GPS -20 SEABIRD_T_G 0.0044001359 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00063958467 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.6420161e-05 W_ADJ_DBAND 0

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.2747387e-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 0.0099999998 SM_CC 688.85968

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 290714,122654,7057.195,-14429.449,32,0.8,52,22.3 SPEED_LIMITS 0.142,0.254

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.65 MHEAD_RNG_PITCHd_Wd 305.6,86145,-21.9,-11.905,-25.13,1887

_SM_ANGLEo -67.4 D_GRID 1000

GPS2 290714,123553,7057.087,-14429.270,4,0.8,25,22.3

Post-dive calculations and measurements:

FINISH 0.9,1.020027 _10V_AH 12.74,0.000

SM_CCo 8594,0.00,0.000,0,0,526,692.48 FG_AHR_24Vo 0.000

SM_GC 1.81,8.43,1.08,0.00,0.112,0.093,0.000,197,2198,526,-7.06,0.85,692.48,0,0,0,0,0,0,14.29,14.33,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 361 MEM 301964

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 30045,846

IRIDIUM_FIX 7026.32,-14445.36,290714,095301 CAP_FILE_SIZE 130212,0

TT8_MAMPS 0.047936,0.047936 CFSIZE 2097872896,2088140800

HUMID 52.16 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0

INTERNAL_PRESSURE 8.47526 INTR 0,9405.33,0x2378b6,7,5

TCM_TEMP 12.40 SOUNDSPEED 1450.1

XPDR_PINGS 0 EKF 8676,4258.111328,-8670.612305,0.908212,-0.220596,0.215900,-0.019980,0.000111,0.001040,0.000100,0.002125,0.002125,0.000073

SC_FREEKB 4014076 CURRENT 0.055,148.19,1

TM_FREEKB 7684480 GPS 290714,150044,7057.871,-14430.134,17,0.8,37,22.3

_24V_AH 13.00,59.487

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 482 145.43 nil 0 0 0.00

Roll_motor 91 133 158.68 nil 0 0 0.00

VBD_pump_during_apogee 661 1624 13973.27 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 8536 15 1751.52

Iridium_during_xfer 329 187 802.77 TMICL 8564 1000 111332.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.31

TT8 0 0 0.00

LPSleep 5966 2 175.58

TT8_Active 816 10 114.11

TT8_Sampling 2281 29 863.19

TT8_CF8 76 36 35.60

TT8_Kalman 0 0 0.00

Analog_circuits 1916 10 244.12

GPS_charging 0 0 0.00

Compass 1249 5 79.58

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.87 -145.9 192 2203 534 470 0.0 0.0 0 94 0.00 0.00 -72.70 0.000 16386 0.000 0.000 190 2203 2332 2343 2322 0 0 0 0 0 0 28.83 28.83 28.83

96 -0.87 -145.9 190 2204 2345 2323 3.5 -3.3 7 143 11.15 2.53 -28.77 0.000 18948 0.483 0.133 2182 787 3946 4004 3889 0 0 0 0 0 0 14.05 14.26 14.48

303 -0.80 -145.9 2183 787 4003 3895 57.5 -23.4 46 312 0.17 2.50 0.00 0.000 3078 0.360 0.106 2206 2199 3947 4004 3890 0 0 0 0 0 0 14.21 14.31 28.83

608 -0.77 -145.9 2207 2199 4003 3896 114.9 -17.3 77 615 0.00 2.55 0.00 0.000 260 0.000 0.132 2197 3623 3949 4004 3895 0 0 0 0 0 0 28.83 14.39 28.83

694 -0.74 -145.9 2196 3625 4005 3896 131.3 -18.5 94 704 0.15 2.45 0.00 0.000 3078 0.314 0.095 2226 2201 3949 4004 3895 0 0 0 0 0 0 14.31 14.42 28.83

999 -0.74 -145.9 2226 2201 4005 3896 176.0 -13.5 125 1007 0.00 2.55 0.00 0.000 260 0.000 0.132 2217 3617 3949 4004 3895 0 0 0 0 0 0 28.83 14.43 28.83

1091 -0.74 -145.9 2214 3622 4003 3895 188.7 -13.5 143 1101 0.00 2.45 0.00 0.000 1030 0.000 0.092 2217 2191 3949 4004 3895 0 0 0 0 0 0 28.83 14.42 28.83

1405 -0.74 -145.9 2218 2192 4003 3895 227.5 -11.8 175 1408 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 2191 3949 4004 3894 0 0 0 0 0 0 28.83 28.83 28.83

1725 -0.76 -145.9 2218 2192 4003 3894 264.5 -11.4 199 1736 0.00 2.58 0.00 0.000 260 0.000 0.134 2206 3621 3948 4003 3893 0 0 0 0 0 0 28.83 14.48 28.83

1854 -0.76 -145.9 2207 3621 4003 3894 280.7 -12.7 224 1862 0.00 2.45 0.00 0.000 1030 0.000 0.093 2206 2191 3948 4004 3893 0 0 0 0 0 0 28.83 14.51 28.83

2182 -0.79 -145.9 2206 2192 4005 3893 318.6 -11.5 239 2191 0.00 2.55 0.00 0.000 260 0.000 0.133 2196 3619 3948 4004 3892 0 0 0 0 0 0 28.83 14.50 28.83

2270 -0.79 -145.9 2195 3620 4005 3892 329.6 -12.3 256 2279 0.00 2.42 0.00 0.000 1030 0.000 0.092 2195 2197 3947 4003 3892 0 0 0 0 0 0 28.83 14.52 28.83

2576 -0.79 -145.9 2196 2198 4003 3892 365.9 -11.8 267 2585 0.00 2.53 0.00 0.000 260 0.000 0.132 2185 3616 3946 4003 3890 0 0 0 0 0 0 28.83 14.52 28.83

2664 -0.79 -145.9 2186 3617 4003 3891 377.3 -13.3 284 2674 0.12 2.42 0.00 0.000 3078 0.314 0.093 2208 2195 3946 4003 3890 0 0 0 0 0 0 14.44 14.54 28.83

2970 -0.82 -145.9 2208 2195 4004 3891 410.5 -10.7 295 2980 0.00 2.53 0.00 0.000 260 0.000 0.132 2199 3615 3946 4003 3889 0 0 0 0 0 0 28.83 14.53 28.83

3089 -0.82 -145.9 2200 3616 4005 3890 424.5 -11.9 318 3098 0.00 2.42 0.00 0.000 1030 0.000 0.093 2199 2192 3946 4003 3889 0 0 0 0 0 0 28.83 14.55 28.83

3395 -0.84 -145.9 2200 2192 4003 3890 458.7 -11.2 329 3402 0.00 2.53 0.00 0.000 260 0.000 0.131 2188 3617 3946 4003 3889 0 0 0 0 0 0 28.83 14.53 28.83

3501 -0.84 -145.9 2189 3617 4004 3890 471.7 -12.3 350 3510 0.00 2.42 0.00 0.000 1030 0.000 0.093 2188 2193 3946 4003 3889 0 0 0 0 0 0 28.83 14.55 28.83

3758 end dive: TARGET_DEPTH_EXCEEDED

state 3758 begin apogee

3761 -0.16 0.0 2184 2807 4005 3890 501.2 -11.3 361 3951 0.90 0.00 184.52 1.421 10246 0.295 0.000 2410 2805 3346 3400 3292 0 0 0 0 0 0 14.45 28.83 13.28

3953 end apogee: CONTROL_FINISHED_OK

state 3953 begin climb

3954 0.87 145.9 2410 2806 3396 3285 506.5 0.0 367 4098 1.12 1.90 127.28 1.624 10500 0.161 0.134 2739 3767 2737 2786 2688 0 0 0 0 0 0 13.81 13.60 13.00

4167 0.76 145.9 2739 3768 2775 2677 485.5 18.5 402 4176 0.10 1.75 0.00 0.000 5126 0.314 0.090 2724 2807 2725 2773 2677 0 0 0 0 0 0 13.78 13.92 28.83

4472 0.70 145.9 2724 2808 2774 2675 439.7 14.8 413 4481 0.00 2.53 0.00 0.000 516 0.000 0.106 2733 1385 2723 2773 2674 0 0 0 0 0 0 28.83 14.18 28.83

4500 0.65 145.9 2734 1386 2773 2674 435.7 14.1 418 4509 0.22 2.55 0.00 0.000 5126 0.306 0.112 2685 2806 2723 2773 2674 0 0 1 0 0 0 14.12 14.21 28.83

4805 0.61 145.9 2687 2806 2773 2674 396.7 12.7 429 4813 0.00 2.50 0.00 0.000 516 0.000 0.102 2694 1387 2723 2773 2673 0 0 0 0 0 0 28.83 14.33 28.83

4892 0.62 149.4 2696 1388 2773 2674 386.2 11.7 446 4901 0.00 2.55 0.00 0.000 1030 0.000 0.112 2694 2807 2723 2773 2673 0 0 0 0 0 0 28.83 14.34 28.83

5198 0.58 149.4 2695 2807 2773 2673 347.0 13.0 457 5207 0.12 2.50 0.00 0.000 4612 0.307 0.100 2672 1383 2723 2773 2673 0 0 0 0 0 0 14.33 14.42 28.83

5271 0.61 174.6 2677 1382 2773 2673 338.9 10.5 471 5306 0.00 2.53 25.25 1.481 9222 0.000 0.112 2675 2801 2625 2682 2569 0 0 0 0 0 0 28.83 14.42 13.66

5630 0.61 174.6 2676 2802 2676 2552 293.6 12.9 491 5639 0.00 2.50 0.00 0.000 516 0.000 0.103 2685 1383 2613 2676 2551 0 0 0 0 0 0 28.83 14.38 28.83

5713 0.61 174.6 2686 1383 2677 2551 283.4 11.9 507 5723 0.00 2.53 0.00 0.000 1030 0.000 0.112 2685 2801 2613 2676 2551 0 0 0 0 0 0 28.83 14.39 28.83

6027 0.61 174.6 2687 2801 2676 2551 242.9 12.6 521 6035 0.00 2.47 0.00 0.000 516 0.000 0.102 2696 1384 2613 2675 2551 0 0 0 0 0 0 28.83 14.45 28.83

6129 0.61 175.4 2697 1384 2675 2551 230.7 11.9 541 6137 0.00 2.55 0.00 0.000 1030 0.000 0.112 2696 2807 2613 2676 2550 0 0 0 0 0 0 28.83 14.46 28.83

6442 0.60 179.9 2696 2807 2677 2552 192.4 11.7 573 6450 0.12 2.47 0.00 0.000 4612 0.310 0.099 2677 1388 2613 2676 2551 0 0 0 0 0 0 14.38 14.46 28.83

6614 0.70 247.2 2676 1389 2677 2551 176.3 8.2 607 6690 0.00 2.50 65.80 1.317 9222 0.000 0.112 2677 2801 2332 2400 2264 0 0 0 0 0 0 28.83 14.45 13.55

6994 0.79 304.3 2678 2801 2387 2239 139.2 8.8 649 7056 0.12 2.58 52.30 1.275 10756 0.177 0.101 2731 1387 2093 2176 2010 0 0 0 0 0 0 14.31 14.00 13.53

7214 0.81 316.5 2732 1387 2163 1990 113.6 11.2 690 7224 0.00 2.58 2.75 0.651 9222 0.000 0.112 2731 2802 2055 2143 1968 0 0 0 0 0 0 28.83 14.21 13.57

7520 0.82 325.2 2731 2803 2159 1978 76.7 11.4 721 7535 0.00 2.50 6.18 0.294 8708 0.000 0.101 2741 1388 2026 2117 1936 0 0 0 0 0 0 28.83 14.31 14.16

7633 0.84 337.7 2741 1389 2142 1958 63.9 11.2 743 7651 0.00 2.55 9.77 0.324 9222 0.000 0.113 2741 2807 1971 2061 1882 0 0 0 0 0 0 28.83 14.34 14.19

7945 0.94 418.7 2742 2807 2086 1909 34.4 7.5 775 7998 0.00 0.00 43.85 0.270 8710 0.000 0.000 2741 2807 1640 1735 1546 0 0 0 0 0 0 28.83 28.83 14.23

8295 1.30 635.0 2738 2807 1753 1555 12.8 0.1 811 8419 0.43 2.53 113.57 0.210 11012 0.113 0.104 2901 1389 758 839 677 0 0 0 0 0 0 14.41 14.25 14.21

8473 1.43 708.1 2900 1389 849 678 5.1 7.9 840 8510 0.00 2.55 30.55 0.194 9218 0.000 0.112 2900 2803 525 587 463 0 0 0 0 0 0 28.83 14.30 28.83

8510 end climb: SURFACE_DEPTH_REACHED

state 8511 begin surface coast

8513 end surface coast: CONTROL_FINISHED_OK

state 8513 begin surface

ID	199	ESCAPE_HEADING	0	C_ROLL_CLIMB	2800	ALTIM_FREQUENCY	13
MISSION	5	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	26	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	15	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	688.85968	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.6
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	3349	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	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	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	-21650.83	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	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044001359
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00063958467
T_WATCHDOG	10	PITCH_MIN	200	MINV_10V	11	SEABIRD_T_I	2.6420161e-05
RELAUNCH	1	PITCH_MAX	3900	FG_AHR_10V	0	SEABIRD_T_J	3.2747387e-06
APOGEE_PITCH	-5	C_PITCH	2470	FG_AHR_24V	0	SEABIRD_C_G	-9.7531748
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1147131
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-64.963387	SEABIRD_C_I	-0.0015239087
GLIDE_SLOPE	40	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001159754	SEABIRD_C_J	0.00019379995
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	54269	PITCH_TIMEOUT	17	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	0.0099999998	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HD_A	0.0031999999	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3771	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	2.1999999e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2200	ALTIM_PING_DELTA	5

GPS1	290714,122654,7057.195,-14429.449,32,0.8,52,22.3	SPEED_LIMITS	0.142,0.254
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.65	MHEAD_RNG_PITCHd_Wd	305.6,86145,-21.9,-11.905,-25.13,1887
_SM_ANGLEo	-67.4	D_GRID	1000
GPS2	290714,123553,7057.087,-14429.270,4,0.8,25,22.3

FINISH	0.9,1.020027	_10V_AH	12.74,0.000
SM_CCo	8594,0.00,0.000,0,0,526,692.48	FG_AHR_24Vo	0.000
SM_GC	1.81,8.43,1.08,0.00,0.112,0.093,0.000,197,2198,526,-7.06,0.85,692.48,0,0,0,0,0,0,14.29,14.33,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	361	MEM	301964
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	30045,846
IRIDIUM_FIX	7026.32,-14445.36,290714,095301	CAP_FILE_SIZE	130212,0
TT8_MAMPS	0.047936,0.047936	CFSIZE	2097872896,2088140800
HUMID	52.16	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
INTERNAL_PRESSURE	8.47526	INTR	0,9405.33,0x2378b6,7,5
TCM_TEMP	12.40	SOUNDSPEED	1450.1
XPDR_PINGS	0	EKF	8676,4258.111328,-8670.612305,0.908212,-0.220596,0.215900,-0.019980,0.000111,0.001040,0.000100,0.002125,0.002125,0.000073
SC_FREEKB	4014076	CURRENT	0.055,148.19,1
TM_FREEKB	7684480	GPS	290714,150044,7057.871,-14430.134,17,0.8,37,22.3
_24V_AH	13.00,59.487

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	482	145.43	nil	0	0	0.00
Roll_motor	91	133	158.68	nil	0	0	0.00
VBD_pump_during_apogee	661	1624	13973.27	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	8536	15	1751.52
Iridium_during_xfer	329	187	802.77	TMICL	8564	1000	111332.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.31
TT8	0	0	0.00
LPSleep	5966	2	175.58
TT8_Active	816	10	114.11
TT8_Sampling	2281	29	863.19
TT8_CF8	76	36	35.60
TT8_Kalman	0	0	0.00
Analog_circuits	1916	10	244.12
GPS_charging	0	0	0.00
Compass	1249	5	79.58
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.87	-145.9	192	2203	534	470	0.0	0.0	0	94	0.00	0.00	-72.70	0.000	16386	0.000	0.000	190	2203	2332	2343	2322	0	0	0	0	0	0	28.83	28.83	28.83
96	-0.87	-145.9	190	2204	2345	2323	3.5	-3.3	7	143	11.15	2.53	-28.77	0.000	18948	0.483	0.133	2182	787	3946	4004	3889	0	0	0	0	0	0	14.05	14.26	14.48
303	-0.80	-145.9	2183	787	4003	3895	57.5	-23.4	46	312	0.17	2.50	0.00	0.000	3078	0.360	0.106	2206	2199	3947	4004	3890	0	0	0	0	0	0	14.21	14.31	28.83
608	-0.77	-145.9	2207	2199	4003	3896	114.9	-17.3	77	615	0.00	2.55	0.00	0.000	260	0.000	0.132	2197	3623	3949	4004	3895	0	0	0	0	0	0	28.83	14.39	28.83
694	-0.74	-145.9	2196	3625	4005	3896	131.3	-18.5	94	704	0.15	2.45	0.00	0.000	3078	0.314	0.095	2226	2201	3949	4004	3895	0	0	0	0	0	0	14.31	14.42	28.83
999	-0.74	-145.9	2226	2201	4005	3896	176.0	-13.5	125	1007	0.00	2.55	0.00	0.000	260	0.000	0.132	2217	3617	3949	4004	3895	0	0	0	0	0	0	28.83	14.43	28.83
1091	-0.74	-145.9	2214	3622	4003	3895	188.7	-13.5	143	1101	0.00	2.45	0.00	0.000	1030	0.000	0.092	2217	2191	3949	4004	3895	0	0	0	0	0	0	28.83	14.42	28.83
1405	-0.74	-145.9	2218	2192	4003	3895	227.5	-11.8	175	1408	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	2191	3949	4004	3894	0	0	0	0	0	0	28.83	28.83	28.83
1725	-0.76	-145.9	2218	2192	4003	3894	264.5	-11.4	199	1736	0.00	2.58	0.00	0.000	260	0.000	0.134	2206	3621	3948	4003	3893	0	0	0	0	0	0	28.83	14.48	28.83
1854	-0.76	-145.9	2207	3621	4003	3894	280.7	-12.7	224	1862	0.00	2.45	0.00	0.000	1030	0.000	0.093	2206	2191	3948	4004	3893	0	0	0	0	0	0	28.83	14.51	28.83
2182	-0.79	-145.9	2206	2192	4005	3893	318.6	-11.5	239	2191	0.00	2.55	0.00	0.000	260	0.000	0.133	2196	3619	3948	4004	3892	0	0	0	0	0	0	28.83	14.50	28.83
2270	-0.79	-145.9	2195	3620	4005	3892	329.6	-12.3	256	2279	0.00	2.42	0.00	0.000	1030	0.000	0.092	2195	2197	3947	4003	3892	0	0	0	0	0	0	28.83	14.52	28.83
2576	-0.79	-145.9	2196	2198	4003	3892	365.9	-11.8	267	2585	0.00	2.53	0.00	0.000	260	0.000	0.132	2185	3616	3946	4003	3890	0	0	0	0	0	0	28.83	14.52	28.83
2664	-0.79	-145.9	2186	3617	4003	3891	377.3	-13.3	284	2674	0.12	2.42	0.00	0.000	3078	0.314	0.093	2208	2195	3946	4003	3890	0	0	0	0	0	0	14.44	14.54	28.83
2970	-0.82	-145.9	2208	2195	4004	3891	410.5	-10.7	295	2980	0.00	2.53	0.00	0.000	260	0.000	0.132	2199	3615	3946	4003	3889	0	0	0	0	0	0	28.83	14.53	28.83
3089	-0.82	-145.9	2200	3616	4005	3890	424.5	-11.9	318	3098	0.00	2.42	0.00	0.000	1030	0.000	0.093	2199	2192	3946	4003	3889	0	0	0	0	0	0	28.83	14.55	28.83
3395	-0.84	-145.9	2200	2192	4003	3890	458.7	-11.2	329	3402	0.00	2.53	0.00	0.000	260	0.000	0.131	2188	3617	3946	4003	3889	0	0	0	0	0	0	28.83	14.53	28.83
3501	-0.84	-145.9	2189	3617	4004	3890	471.7	-12.3	350	3510	0.00	2.42	0.00	0.000	1030	0.000	0.093	2188	2193	3946	4003	3889	0	0	0	0	0	0	28.83	14.55	28.83
3758	end dive: TARGET_DEPTH_EXCEEDED
state	3758	begin apogee
3761	-0.16	0.0	2184	2807	4005	3890	501.2	-11.3	361	3951	0.90	0.00	184.52	1.421	10246	0.295	0.000	2410	2805	3346	3400	3292	0	0	0	0	0	0	14.45	28.83	13.28
3953	end apogee: CONTROL_FINISHED_OK
state	3953	begin climb
3954	0.87	145.9	2410	2806	3396	3285	506.5	0.0	367	4098	1.12	1.90	127.28	1.624	10500	0.161	0.134	2739	3767	2737	2786	2688	0	0	0	0	0	0	13.81	13.60	13.00
4167	0.76	145.9	2739	3768	2775	2677	485.5	18.5	402	4176	0.10	1.75	0.00	0.000	5126	0.314	0.090	2724	2807	2725	2773	2677	0	0	0	0	0	0	13.78	13.92	28.83
4472	0.70	145.9	2724	2808	2774	2675	439.7	14.8	413	4481	0.00	2.53	0.00	0.000	516	0.000	0.106	2733	1385	2723	2773	2674	0	0	0	0	0	0	28.83	14.18	28.83
4500	0.65	145.9	2734	1386	2773	2674	435.7	14.1	418	4509	0.22	2.55	0.00	0.000	5126	0.306	0.112	2685	2806	2723	2773	2674	0	0	1	0	0	0	14.12	14.21	28.83
4805	0.61	145.9	2687	2806	2773	2674	396.7	12.7	429	4813	0.00	2.50	0.00	0.000	516	0.000	0.102	2694	1387	2723	2773	2673	0	0	0	0	0	0	28.83	14.33	28.83
4892	0.62	149.4	2696	1388	2773	2674	386.2	11.7	446	4901	0.00	2.55	0.00	0.000	1030	0.000	0.112	2694	2807	2723	2773	2673	0	0	0	0	0	0	28.83	14.34	28.83
5198	0.58	149.4	2695	2807	2773	2673	347.0	13.0	457	5207	0.12	2.50	0.00	0.000	4612	0.307	0.100	2672	1383	2723	2773	2673	0	0	0	0	0	0	14.33	14.42	28.83
5271	0.61	174.6	2677	1382	2773	2673	338.9	10.5	471	5306	0.00	2.53	25.25	1.481	9222	0.000	0.112	2675	2801	2625	2682	2569	0	0	0	0	0	0	28.83	14.42	13.66
5630	0.61	174.6	2676	2802	2676	2552	293.6	12.9	491	5639	0.00	2.50	0.00	0.000	516	0.000	0.103	2685	1383	2613	2676	2551	0	0	0	0	0	0	28.83	14.38	28.83
5713	0.61	174.6	2686	1383	2677	2551	283.4	11.9	507	5723	0.00	2.53	0.00	0.000	1030	0.000	0.112	2685	2801	2613	2676	2551	0	0	0	0	0	0	28.83	14.39	28.83
6027	0.61	174.6	2687	2801	2676	2551	242.9	12.6	521	6035	0.00	2.47	0.00	0.000	516	0.000	0.102	2696	1384	2613	2675	2551	0	0	0	0	0	0	28.83	14.45	28.83
6129	0.61	175.4	2697	1384	2675	2551	230.7	11.9	541	6137	0.00	2.55	0.00	0.000	1030	0.000	0.112	2696	2807	2613	2676	2550	0	0	0	0	0	0	28.83	14.46	28.83
6442	0.60	179.9	2696	2807	2677	2552	192.4	11.7	573	6450	0.12	2.47	0.00	0.000	4612	0.310	0.099	2677	1388	2613	2676	2551	0	0	0	0	0	0	14.38	14.46	28.83
6614	0.70	247.2	2676	1389	2677	2551	176.3	8.2	607	6690	0.00	2.50	65.80	1.317	9222	0.000	0.112	2677	2801	2332	2400	2264	0	0	0	0	0	0	28.83	14.45	13.55
6994	0.79	304.3	2678	2801	2387	2239	139.2	8.8	649	7056	0.12	2.58	52.30	1.275	10756	0.177	0.101	2731	1387	2093	2176	2010	0	0	0	0	0	0	14.31	14.00	13.53
7214	0.81	316.5	2732	1387	2163	1990	113.6	11.2	690	7224	0.00	2.58	2.75	0.651	9222	0.000	0.112	2731	2802	2055	2143	1968	0	0	0	0	0	0	28.83	14.21	13.57
7520	0.82	325.2	2731	2803	2159	1978	76.7	11.4	721	7535	0.00	2.50	6.18	0.294	8708	0.000	0.101	2741	1388	2026	2117	1936	0	0	0	0	0	0	28.83	14.31	14.16
7633	0.84	337.7	2741	1389	2142	1958	63.9	11.2	743	7651	0.00	2.55	9.77	0.324	9222	0.000	0.113	2741	2807	1971	2061	1882	0	0	0	0	0	0	28.83	14.34	14.19
7945	0.94	418.7	2742	2807	2086	1909	34.4	7.5	775	7998	0.00	0.00	43.85	0.270	8710	0.000	0.000	2741	2807	1640	1735	1546	0	0	0	0	0	0	28.83	28.83	14.23
8295	1.30	635.0	2738	2807	1753	1555	12.8	0.1	811	8419	0.43	2.53	113.57	0.210	11012	0.113	0.104	2901	1389	758	839	677	0	0	0	0	0	0	14.41	14.25	14.21
8473	1.43	708.1	2900	1389	849	678	5.1	7.9	840	8510	0.00	2.55	30.55	0.194	9218	0.000	0.112	2900	2803	525	587	463	0	0	0	0	0	0	28.83	14.30	28.83
8510	end climb: SURFACE_DEPTH_REACHED
state	8511	begin surface coast
8513	end surface coast: CONTROL_FINISHED_OK
state	8513	begin surface