Glider dive log

MIZ Jul14 * SG197 * Dive index * Mission links * Dive 26 * 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 26 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 33 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 27 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 -6969.5205 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 -6969.5205

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 33 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 27 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 26 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 290714,160750,7058.036,-14437.990,37,1.1,58,28.3 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 1.79 MHEAD_RNG_PITCHd_Wd 299.1,82049,-22.3,-11.905,-26.01,1887

_SM_ANGLEo -71.5 D_GRID 1000

GPS2 290714,161827,7057.981,-14437.943,14,1.2,34,28.3

Post-dive calculations and measurements:

FINISH 1.1,1.006149 _10V_AH 12.68,0.000

SM_CCo 8241,23.27,0.187,0,0,539,675.07 FG_AHR_24Vo 0.000

SM_GC 2.03,8.48,0.30,23.27,0.116,0.145,0.187,179,2559,539,-7.19,-0.42,675.07,0,0,0,0,0,0,14.48,14.49,14.42 FG_AHR_10Vo 0.000

RAFOS_CLK 793075 MEM 303516

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23419,699

IRIDIUM_FIX 7026.32,-14439.98,290714,133522 CAP_FILE_SIZE 119548,0

TT8_MAMPS 0.041944,0.041944 CFSIZE 1047117824,1038336000

HUMID 46.77 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.62999 INTR 0,9377.38,0x2378b6,7,5

TCM_TEMP 12.10 SOUNDSPEED 1450.0

XPDR_PINGS 0 EKF 8353,4258.898438,-8679.772461,1.057439,-0.037708,-0.196361,-0.006925,0.000137,0.001286,0.000099,0.002025,0.002025,0.000050

SC_FREEKB 3926528 CURRENT 0.027,73.54,1

TM_FREEKB 7662340 GPS 290714,183755,7058.931,-14439.450,32,1.0,53,28.3

_24V_AH 12.88,16.967

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 464 135.77 nil 0 0 0.00

Roll_motor 64 145 120.80 nil 0 0 0.00

VBD_pump_during_apogee 579 2210 16504.54 nil 0 0 0.00

VBD_pump_during_surface 23 187 56.19 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 8244 15 1626.83

Iridium_during_xfer 395 188 957.86 TMICL 8297 13 1432.85

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 20 9.72

TT8 0 0 0.00

LPSleep 5999 2 175.73

TT8_Active 733 11 109.01

TT8_Sampling 2092 30 807.82

TT8_CF8 76 43 42.51

TT8_Kalman 0 0 0.00

Analog_circuits 1783 10 226.14

GPS_charging 0 0 0.00

Compass 1038 5 65.83

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

16 -0.80 -145.9 149 2567 417 601 0.0 0.0 0 83 0.00 0.00 -63.22 0.000 16386 0.000 0.000 146 2567 2114 2118 2111 0 0 0 0 0 0 28.83 28.83 28.83

85 -0.80 -145.9 146 2566 2121 2112 3.4 -3.3 6 133 11.25 0.00 -33.17 0.000 18950 0.464 0.000 2228 2566 3888 3866 3911 0 0 0 0 0 0 14.15 28.83 14.57

437 -0.70 -145.9 2229 2567 3866 3919 85.5 -20.6 44 447 0.15 2.45 0.00 0.000 2564 0.327 0.087 2260 1137 3892 3866 3918 0 0 0 0 0 0 14.39 14.52 28.83

475 -0.70 -145.9 2260 1137 3867 3919 92.3 -16.4 51 485 0.00 2.53 0.00 0.000 1030 0.000 0.114 2253 2543 3892 3866 3918 0 0 0 0 0 0 28.83 14.53 28.83

781 -0.70 -145.9 2254 2543 3866 3915 144.6 -15.8 82 789 0.00 2.40 0.00 0.000 516 0.000 0.086 2253 1142 3892 3866 3918 0 0 0 0 0 0 28.83 14.58 28.83

878 -0.70 -145.9 2253 1142 3867 3918 159.2 -13.8 101 887 0.00 2.53 0.00 0.000 1030 0.000 0.116 2244 2553 3891 3865 3918 0 0 0 0 0 0 28.83 14.57 28.83

1183 -0.70 -145.9 2246 2554 3865 3919 202.3 -13.0 132 1192 0.00 2.42 0.00 0.000 516 0.000 0.089 2244 1142 3891 3865 3918 0 0 0 0 0 0 28.83 14.62 28.83

1272 -0.74 -145.9 2245 1142 3871 3919 213.9 -13.1 149 1281 0.00 2.53 0.00 0.000 1030 0.000 0.116 2235 2555 3891 3865 3918 0 0 0 0 0 0 28.83 14.60 28.83

1586 -0.76 -145.9 2236 2555 3862 3919 254.8 -12.7 179 1594 0.00 2.42 0.00 0.000 516 0.000 0.090 2235 1145 3890 3862 3918 0 0 0 0 0 0 28.83 14.64 28.83

1633 -0.80 -145.9 2235 1145 3863 3919 260.5 -12.1 188 1643 0.00 2.53 0.00 0.000 1030 0.000 0.117 2227 2556 3890 3862 3918 0 0 0 0 0 0 28.83 14.62 28.83

1952 -0.80 -145.9 2227 2557 3860 3919 300.5 -12.7 201 1955 0.00 0.00 0.00 0.000 6 0.000 0.000 2230 2556 3888 3859 3918 0 0 0 0 0 0 28.83 28.83 28.83

2252 -0.82 -145.9 2227 2557 3859 3919 337.7 -12.2 211 2259 0.00 2.42 0.00 0.000 516 0.000 0.091 2227 1137 3888 3859 3918 0 0 0 0 0 0 28.83 14.70 28.83

2329 -0.86 -145.9 2227 1138 3860 3919 346.5 -11.4 226 2337 0.00 2.53 0.00 0.000 1030 0.000 0.117 2218 2552 3888 3859 3918 0 0 0 0 0 0 28.83 14.68 28.83

2646 -0.86 -145.9 2219 2553 3859 3918 385.5 -12.4 239 2654 0.00 2.42 0.00 0.000 516 0.000 0.090 2218 1139 3888 3858 3918 0 0 0 0 0 0 28.83 14.71 28.83

2713 -0.90 -145.9 2219 1138 3859 3919 393.7 -12.1 252 2724 0.00 2.53 0.00 0.000 1030 0.000 0.117 2211 2559 3888 3858 3918 0 0 0 0 0 0 28.83 14.69 28.83

3043 -0.90 -145.9 2212 2559 3859 3919 434.9 -12.5 267 3050 0.00 2.42 0.00 0.000 516 0.000 0.090 2212 1140 3887 3855 3919 0 0 0 0 0 0 28.83 14.72 28.83

3135 -0.92 -145.9 2212 1140 3858 3918 446.3 -12.2 285 3143 0.00 2.50 0.00 0.000 1030 0.000 0.117 2205 2549 3888 3858 3918 0 0 0 0 0 0 28.83 14.71 28.83

3467 -0.92 -145.9 2206 2550 3858 3918 489.3 -13.0 301 3474 0.00 2.40 0.00 0.000 516 0.000 0.090 2205 1137 3887 3857 3918 0 0 0 0 0 0 28.83 14.73 28.83

3529 -0.92 -145.9 2205 1138 3858 3919 497.2 -12.8 313 3536 0.00 2.53 0.00 0.000 1030 0.000 0.117 2201 2557 3888 3858 3918 0 0 0 0 0 0 28.83 14.70 28.83

3549 end dive: TARGET_DEPTH_EXCEEDED

state 3549 begin apogee

3552 -0.16 0.0 2202 2391 3858 3919 500.0 -12.9 317 3697 0.90 0.00 134.45 2.211 10246 0.277 0.000 2438 2390 3294 3246 3342 0 0 0 0 1 0 14.61 28.83 12.88

3699 end apogee: CONTROL_FINISHED_OK

state 3699 begin climb

3700 0.80 145.9 2439 2391 3248 3348 504.6 0.0 321 3843 1.00 2.58 126.97 1.510 10756 0.148 0.089 2749 993 2687 2614 2760 0 0 0 0 0 0 13.88 13.79 13.24

3977 0.75 145.9 2750 992 2609 2757 484.3 12.4 369 3985 0.00 2.58 0.00 0.000 1030 0.000 0.103 2749 2398 2682 2609 2756 0 0 0 0 0 0 28.83 14.11 28.83

4310 0.66 145.9 2750 2398 2608 2756 440.7 13.3 385 4313 0.20 0.00 0.00 0.000 4102 0.306 0.000 2707 2398 2682 2608 2756 0 0 0 0 0 0 14.26 28.83 28.83

4609 0.67 161.6 2707 2399 2608 2757 407.1 11.1 395 4626 0.00 0.00 13.45 1.423 8198 0.000 0.000 2707 2398 2629 2548 2711 0 0 0 0 0 0 28.83 28.83 13.88

4909 0.68 170.2 2707 2399 2546 2702 372.9 11.4 405 4915 0.00 0.00 2.67 0.744 8198 0.000 0.000 2707 2397 2597 2514 2680 0 0 0 0 0 0 28.83 28.83 13.68

5209 0.68 178.0 2707 2398 2530 2697 338.6 11.5 415 5230 0.00 2.47 14.05 1.377 8708 0.000 0.090 2715 993 2558 2476 2641 0 0 0 0 0 0 28.83 14.49 13.97

5249 0.68 178.0 2715 992 2475 2635 333.9 12.1 422 5257 0.00 2.50 0.00 0.000 1030 0.000 0.104 2715 2400 2553 2472 2634 0 0 0 0 0 0 28.83 14.49 28.83

5576 0.68 178.0 2716 2401 2469 2634 294.2 12.2 437 5579 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 2401 2552 2471 2634 0 0 0 0 0 0 28.83 28.83 28.83

5876 0.68 178.0 2716 2401 2471 2635 257.5 12.1 447 5878 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 2401 2552 2471 2634 0 0 0 0 0 0 28.83 28.83 28.83

6176 0.69 196.6 2715 2401 2467 2635 222.8 10.9 471 6201 0.00 0.00 16.23 1.237 8198 0.000 0.000 2715 2400 2479 2397 2562 0 0 0 0 0 0 28.83 28.83 14.07

6496 0.71 221.7 2715 2401 2396 2560 188.2 10.5 503 6522 0.00 0.00 21.48 1.152 8198 0.000 0.000 2715 2402 2382 2301 2463 0 0 0 0 0 0 28.83 28.83 14.02

6817 0.80 287.4 2715 2401 2293 2455 156.6 8.3 535 6886 0.10 2.40 57.38 1.070 10500 0.171 0.117 2760 3709 2104 2013 2195 0 0 0 0 0 0 14.59 14.26 13.84

6926 0.74 287.4 2760 3710 2009 2194 143.0 14.5 553 6934 0.17 2.22 0.00 0.000 5126 0.285 0.069 2733 2396 2099 2007 2192 0 0 0 0 0 0 14.26 14.37 28.83

7239 0.85 336.6 2733 2396 2003 2190 111.9 9.2 585 7294 0.00 2.50 43.75 0.995 8708 0.000 0.096 2741 996 1904 1806 2003 0 0 0 0 0 0 28.83 14.29 13.89

7333 1.00 375.1 2739 997 1801 1997 103.0 9.8 601 7376 0.22 2.55 34.83 0.972 11270 0.101 0.107 2827 2406 1760 1658 1862 0 0 0 0 0 0 14.40 14.33 13.81

7670 0.96 375.1 2827 2407 1635 1840 49.1 16.2 637 7673 0.00 0.00 0.00 0.000 6 0.000 0.000 2827 2406 1737 1635 1839 0 0 0 0 0 0 28.83 28.83 28.83

7970 1.09 492.1 2827 2407 1631 1839 15.2 5.5 667 8034 0.00 2.40 52.47 0.220 8964 0.000 0.120 2827 3709 1282 1168 1397 0 0 0 0 0 0 28.83 14.44 14.40

8038 1.29 626.6 2827 3709 1170 1398 12.3 4.6 677 8107 0.22 2.20 61.88 0.211 11270 0.101 0.068 2923 2398 736 620 853 0 0 0 0 0 0 14.52 14.50 14.35

8200 end climb: SURFACE_DEPTH_REACHED

state 8200 begin surface coast

8220 end surface coast: CONTROL_FINISHED_OK

state 8220 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	26	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	33	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	27	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	-6969.5205	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	290714,160750,7058.036,-14437.990,37,1.1,58,28.3	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	1.79	MHEAD_RNG_PITCHd_Wd	299.1,82049,-22.3,-11.905,-26.01,1887
_SM_ANGLEo	-71.5	D_GRID	1000
GPS2	290714,161827,7057.981,-14437.943,14,1.2,34,28.3

FINISH	1.1,1.006149	_10V_AH	12.68,0.000
SM_CCo	8241,23.27,0.187,0,0,539,675.07	FG_AHR_24Vo	0.000
SM_GC	2.03,8.48,0.30,23.27,0.116,0.145,0.187,179,2559,539,-7.19,-0.42,675.07,0,0,0,0,0,0,14.48,14.49,14.42	FG_AHR_10Vo	0.000
RAFOS_CLK	793075	MEM	303516
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23419,699
IRIDIUM_FIX	7026.32,-14439.98,290714,133522	CAP_FILE_SIZE	119548,0
TT8_MAMPS	0.041944,0.041944	CFSIZE	1047117824,1038336000
HUMID	46.77	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.62999	INTR	0,9377.38,0x2378b6,7,5
TCM_TEMP	12.10	SOUNDSPEED	1450.0
XPDR_PINGS	0	EKF	8353,4258.898438,-8679.772461,1.057439,-0.037708,-0.196361,-0.006925,0.000137,0.001286,0.000099,0.002025,0.002025,0.000050
SC_FREEKB	3926528	CURRENT	0.027,73.54,1
TM_FREEKB	7662340	GPS	290714,183755,7058.931,-14439.450,32,1.0,53,28.3
_24V_AH	12.88,16.967

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	464	135.77	nil	0	0	0.00
Roll_motor	64	145	120.80	nil	0	0	0.00
VBD_pump_during_apogee	579	2210	16504.54	nil	0	0	0.00
VBD_pump_during_surface	23	187	56.19	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	8244	15	1626.83
Iridium_during_xfer	395	188	957.86	TMICL	8297	13	1432.85
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	20	9.72
TT8	0	0	0.00
LPSleep	5999	2	175.73
TT8_Active	733	11	109.01
TT8_Sampling	2092	30	807.82
TT8_CF8	76	43	42.51
TT8_Kalman	0	0	0.00
Analog_circuits	1783	10	226.14
GPS_charging	0	0	0.00
Compass	1038	5	65.83
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
16	-0.80	-145.9	149	2567	417	601	0.0	0.0	0	83	0.00	0.00	-63.22	0.000	16386	0.000	0.000	146	2567	2114	2118	2111	0	0	0	0	0	0	28.83	28.83	28.83
85	-0.80	-145.9	146	2566	2121	2112	3.4	-3.3	6	133	11.25	0.00	-33.17	0.000	18950	0.464	0.000	2228	2566	3888	3866	3911	0	0	0	0	0	0	14.15	28.83	14.57
437	-0.70	-145.9	2229	2567	3866	3919	85.5	-20.6	44	447	0.15	2.45	0.00	0.000	2564	0.327	0.087	2260	1137	3892	3866	3918	0	0	0	0	0	0	14.39	14.52	28.83
475	-0.70	-145.9	2260	1137	3867	3919	92.3	-16.4	51	485	0.00	2.53	0.00	0.000	1030	0.000	0.114	2253	2543	3892	3866	3918	0	0	0	0	0	0	28.83	14.53	28.83
781	-0.70	-145.9	2254	2543	3866	3915	144.6	-15.8	82	789	0.00	2.40	0.00	0.000	516	0.000	0.086	2253	1142	3892	3866	3918	0	0	0	0	0	0	28.83	14.58	28.83
878	-0.70	-145.9	2253	1142	3867	3918	159.2	-13.8	101	887	0.00	2.53	0.00	0.000	1030	0.000	0.116	2244	2553	3891	3865	3918	0	0	0	0	0	0	28.83	14.57	28.83
1183	-0.70	-145.9	2246	2554	3865	3919	202.3	-13.0	132	1192	0.00	2.42	0.00	0.000	516	0.000	0.089	2244	1142	3891	3865	3918	0	0	0	0	0	0	28.83	14.62	28.83
1272	-0.74	-145.9	2245	1142	3871	3919	213.9	-13.1	149	1281	0.00	2.53	0.00	0.000	1030	0.000	0.116	2235	2555	3891	3865	3918	0	0	0	0	0	0	28.83	14.60	28.83
1586	-0.76	-145.9	2236	2555	3862	3919	254.8	-12.7	179	1594	0.00	2.42	0.00	0.000	516	0.000	0.090	2235	1145	3890	3862	3918	0	0	0	0	0	0	28.83	14.64	28.83
1633	-0.80	-145.9	2235	1145	3863	3919	260.5	-12.1	188	1643	0.00	2.53	0.00	0.000	1030	0.000	0.117	2227	2556	3890	3862	3918	0	0	0	0	0	0	28.83	14.62	28.83
1952	-0.80	-145.9	2227	2557	3860	3919	300.5	-12.7	201	1955	0.00	0.00	0.00	0.000	6	0.000	0.000	2230	2556	3888	3859	3918	0	0	0	0	0	0	28.83	28.83	28.83
2252	-0.82	-145.9	2227	2557	3859	3919	337.7	-12.2	211	2259	0.00	2.42	0.00	0.000	516	0.000	0.091	2227	1137	3888	3859	3918	0	0	0	0	0	0	28.83	14.70	28.83
2329	-0.86	-145.9	2227	1138	3860	3919	346.5	-11.4	226	2337	0.00	2.53	0.00	0.000	1030	0.000	0.117	2218	2552	3888	3859	3918	0	0	0	0	0	0	28.83	14.68	28.83
2646	-0.86	-145.9	2219	2553	3859	3918	385.5	-12.4	239	2654	0.00	2.42	0.00	0.000	516	0.000	0.090	2218	1139	3888	3858	3918	0	0	0	0	0	0	28.83	14.71	28.83
2713	-0.90	-145.9	2219	1138	3859	3919	393.7	-12.1	252	2724	0.00	2.53	0.00	0.000	1030	0.000	0.117	2211	2559	3888	3858	3918	0	0	0	0	0	0	28.83	14.69	28.83
3043	-0.90	-145.9	2212	2559	3859	3919	434.9	-12.5	267	3050	0.00	2.42	0.00	0.000	516	0.000	0.090	2212	1140	3887	3855	3919	0	0	0	0	0	0	28.83	14.72	28.83
3135	-0.92	-145.9	2212	1140	3858	3918	446.3	-12.2	285	3143	0.00	2.50	0.00	0.000	1030	0.000	0.117	2205	2549	3888	3858	3918	0	0	0	0	0	0	28.83	14.71	28.83
3467	-0.92	-145.9	2206	2550	3858	3918	489.3	-13.0	301	3474	0.00	2.40	0.00	0.000	516	0.000	0.090	2205	1137	3887	3857	3918	0	0	0	0	0	0	28.83	14.73	28.83
3529	-0.92	-145.9	2205	1138	3858	3919	497.2	-12.8	313	3536	0.00	2.53	0.00	0.000	1030	0.000	0.117	2201	2557	3888	3858	3918	0	0	0	0	0	0	28.83	14.70	28.83
3549	end dive: TARGET_DEPTH_EXCEEDED
state	3549	begin apogee
3552	-0.16	0.0	2202	2391	3858	3919	500.0	-12.9	317	3697	0.90	0.00	134.45	2.211	10246	0.277	0.000	2438	2390	3294	3246	3342	0	0	0	0	1	0	14.61	28.83	12.88
3699	end apogee: CONTROL_FINISHED_OK
state	3699	begin climb
3700	0.80	145.9	2439	2391	3248	3348	504.6	0.0	321	3843	1.00	2.58	126.97	1.510	10756	0.148	0.089	2749	993	2687	2614	2760	0	0	0	0	0	0	13.88	13.79	13.24
3977	0.75	145.9	2750	992	2609	2757	484.3	12.4	369	3985	0.00	2.58	0.00	0.000	1030	0.000	0.103	2749	2398	2682	2609	2756	0	0	0	0	0	0	28.83	14.11	28.83
4310	0.66	145.9	2750	2398	2608	2756	440.7	13.3	385	4313	0.20	0.00	0.00	0.000	4102	0.306	0.000	2707	2398	2682	2608	2756	0	0	0	0	0	0	14.26	28.83	28.83
4609	0.67	161.6	2707	2399	2608	2757	407.1	11.1	395	4626	0.00	0.00	13.45	1.423	8198	0.000	0.000	2707	2398	2629	2548	2711	0	0	0	0	0	0	28.83	28.83	13.88
4909	0.68	170.2	2707	2399	2546	2702	372.9	11.4	405	4915	0.00	0.00	2.67	0.744	8198	0.000	0.000	2707	2397	2597	2514	2680	0	0	0	0	0	0	28.83	28.83	13.68
5209	0.68	178.0	2707	2398	2530	2697	338.6	11.5	415	5230	0.00	2.47	14.05	1.377	8708	0.000	0.090	2715	993	2558	2476	2641	0	0	0	0	0	0	28.83	14.49	13.97
5249	0.68	178.0	2715	992	2475	2635	333.9	12.1	422	5257	0.00	2.50	0.00	0.000	1030	0.000	0.104	2715	2400	2553	2472	2634	0	0	0	0	0	0	28.83	14.49	28.83
5576	0.68	178.0	2716	2401	2469	2634	294.2	12.2	437	5579	0.00	0.00	0.00	0.000	6	0.000	0.000	2710	2401	2552	2471	2634	0	0	0	0	0	0	28.83	28.83	28.83
5876	0.68	178.0	2716	2401	2471	2635	257.5	12.1	447	5878	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	2401	2552	2471	2634	0	0	0	0	0	0	28.83	28.83	28.83
6176	0.69	196.6	2715	2401	2467	2635	222.8	10.9	471	6201	0.00	0.00	16.23	1.237	8198	0.000	0.000	2715	2400	2479	2397	2562	0	0	0	0	0	0	28.83	28.83	14.07
6496	0.71	221.7	2715	2401	2396	2560	188.2	10.5	503	6522	0.00	0.00	21.48	1.152	8198	0.000	0.000	2715	2402	2382	2301	2463	0	0	0	0	0	0	28.83	28.83	14.02
6817	0.80	287.4	2715	2401	2293	2455	156.6	8.3	535	6886	0.10	2.40	57.38	1.070	10500	0.171	0.117	2760	3709	2104	2013	2195	0	0	0	0	0	0	14.59	14.26	13.84
6926	0.74	287.4	2760	3710	2009	2194	143.0	14.5	553	6934	0.17	2.22	0.00	0.000	5126	0.285	0.069	2733	2396	2099	2007	2192	0	0	0	0	0	0	14.26	14.37	28.83
7239	0.85	336.6	2733	2396	2003	2190	111.9	9.2	585	7294	0.00	2.50	43.75	0.995	8708	0.000	0.096	2741	996	1904	1806	2003	0	0	0	0	0	0	28.83	14.29	13.89
7333	1.00	375.1	2739	997	1801	1997	103.0	9.8	601	7376	0.22	2.55	34.83	0.972	11270	0.101	0.107	2827	2406	1760	1658	1862	0	0	0	0	0	0	14.40	14.33	13.81
7670	0.96	375.1	2827	2407	1635	1840	49.1	16.2	637	7673	0.00	0.00	0.00	0.000	6	0.000	0.000	2827	2406	1737	1635	1839	0	0	0	0	0	0	28.83	28.83	28.83
7970	1.09	492.1	2827	2407	1631	1839	15.2	5.5	667	8034	0.00	2.40	52.47	0.220	8964	0.000	0.120	2827	3709	1282	1168	1397	0	0	0	0	0	0	28.83	14.44	14.40
8038	1.29	626.6	2827	3709	1170	1398	12.3	4.6	677	8107	0.22	2.20	61.88	0.211	11270	0.101	0.068	2923	2398	736	620	853	0	0	0	0	0	0	14.52	14.50	14.35
8200	end climb: SURFACE_DEPTH_REACHED
state	8200	begin surface coast
8220	end surface coast: CONTROL_FINISHED_OK
state	8220	begin surface