Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 27 * 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 27 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 38 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 15 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 -4708.0342 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 -4708.0342

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 38 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 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 27 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 300714,011331,7102.674,-14421.701,12,0.8,32,22.4 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 1.32 MHEAD_RNG_PITCHd_Wd 335.6,62123,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -77.5 D_GRID 1000

GPS2 300714,012356,7102.657,-14421.617,18,0.8,38,22.4

Post-dive calculations and measurements:

FINISH 0.5,1.019282 _10V_AH 13.31,0.000

SM_CCo 8466,0.00,0.000,0,0,535,682.67 FG_AHR_24Vo 0.000

SM_GC 1.21,9.77,0.20,0.00,0.087,0.103,0.000,206,2700,535,-8.42,1.55,682.67,0,0,0,0,0,0,14.31,14.35,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 387 MEM 303236

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23395,685

IRIDIUM_FIX 7026.32,-14423.13,290714,224603 CAP_FILE_SIZE 120513,0

TT8_MAMPS 0.04494,0.04494 CFSIZE 2097872896,2086436864

HUMID 46.02 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.60186 INTR 1,9053.39,0x2378b6,7,5

TCM_TEMP 12.60 SOUNDSPEED 1448.9

XPDR_PINGS 2 EKF 8558,4263.858887,-8661.467773,0.507131,0.020710,-0.001817,0.047586,0.000158,0.001497,0.000095,0.000525,0.000525,0.000034

SC_FREEKB 3926048 CURRENT 0.042,128.87,1

TM_FREEKB 7613832 GPS 300714,034648,7103.739,-14421.003,39,0.8,59,22.4

_24V_AH 13.10,10.010

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 403 133.08 nil 0 0 0.00

Roll_motor 54 122 87.91 nil 0 0 0.00

VBD_pump_during_apogee 545 1706 12194.59 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 8397 15 1682.46

Iridium_during_xfer 388 180 919.19 TMICL 8450 13 1446.56

Transponder_ping 2 420 11.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 39 20 11.15

TT8 0 0 0.00

LPSleep 6270 2 192.79

TT8_Active 680 9 85.80

TT8_Sampling 2069 28 797.53

TT8_CF8 73 35 35.13

TT8_Kalman 0 0 0.00

Analog_circuits 1694 10 225.51

GPS_charging 0 0 0.00

Compass 1019 0 10.17

RAFOS 0 0 0.00

Transponder 13 30 5.26

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 -145.9 158 2708 454 529 0.0 0.0 0 96 0.00 0.00 -73.00 0.000 16386 0.000 0.000 155 2709 2388 2393 2383 0 0 0 0 0 0 28.83 28.83 28.83

98 -0.70 -145.9 156 2709 2394 2385 3.6 -4.7 7 145 12.35 2.47 -25.02 0.000 18948 0.404 0.097 2671 1300 3914 3975 3853 0 0 0 0 0 0 14.08 14.26 14.46

264 -0.59 -145.9 2672 1300 3975 3858 47.0 -22.1 38 273 0.22 2.53 0.00 0.000 3078 0.299 0.099 2710 2710 3915 3974 3857 0 0 0 0 0 0 14.20 14.30 28.83

569 -0.59 -145.9 2710 2711 3975 3860 101.7 -16.2 69 577 0.00 1.90 0.00 0.000 260 0.000 0.107 2704 3792 3917 3975 3859 0 0 0 0 0 0 28.83 14.34 28.83

656 -0.59 -145.9 2704 3793 3975 3861 116.2 -16.3 86 665 0.00 1.85 0.00 0.000 1030 0.000 0.058 2704 2684 3917 3975 3860 0 0 0 0 0 0 28.83 14.43 28.83

961 -0.59 -145.9 2704 2685 3975 3860 161.4 -13.6 117 964 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2684 3916 3974 3859 0 0 0 0 0 0 28.83 28.83 28.83

1261 -0.65 -145.9 2704 2684 3976 3860 199.5 -11.3 147 1264 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2684 3917 3974 3860 0 0 0 0 0 0 28.83 28.83 28.83

1561 -0.72 -145.9 2704 2684 3975 3859 234.1 -11.3 177 1565 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2684 3916 3974 3859 0 0 0 0 0 0 28.83 28.83 28.83

1871 -0.80 -145.9 2704 2685 3970 3860 266.5 -10.5 198 1874 0.17 0.00 0.00 0.000 4102 0.118 0.000 2638 2684 3915 3972 3859 0 0 0 0 0 0 14.52 28.83 28.83

2172 -0.80 -145.9 2638 2684 3972 3859 309.1 -14.2 208 2179 0.00 1.95 0.00 0.000 260 0.000 0.111 2630 3794 3919 3979 3859 0 0 0 0 0 0 28.83 14.49 28.83

2218 -0.72 -145.9 2631 3796 3970 3860 316.1 -16.0 217 2226 0.17 1.77 0.00 0.000 3078 0.272 0.062 2669 2703 3914 3970 3859 0 0 0 0 0 0 14.41 14.57 28.83

2535 -0.72 -145.9 2670 2702 3971 3859 354.9 -12.0 230 2537 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2702 3914 3970 3858 0 0 0 0 0 0 28.83 28.83 28.83

2835 -0.72 -145.9 2670 2703 3970 3859 390.8 -12.0 240 2843 0.00 1.90 0.00 0.000 260 0.000 0.110 2663 3785 3913 3969 3858 0 0 0 0 0 0 28.83 14.52 28.83

2902 -0.72 -145.9 2664 3786 3970 3857 399.7 -13.2 253 2911 0.00 1.83 0.00 0.000 1030 0.000 0.061 2663 2695 3913 3969 3857 0 0 0 0 0 0 28.83 14.58 28.83

3231 -0.72 -145.9 2663 2695 3970 3857 440.7 -12.2 268 3233 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2695 3913 3969 3857 0 0 0 0 0 0 28.83 28.83 28.83

3530 -0.72 -145.9 2664 2695 3970 3857 477.2 -12.2 278 3538 0.00 1.92 0.00 0.000 260 0.000 0.109 2654 3792 3913 3969 3857 0 0 0 0 0 0 28.83 14.52 28.83

3582 -0.72 -145.9 2655 3792 3964 3857 484.0 -13.1 288 3590 0.00 1.83 0.00 0.000 1030 0.000 0.060 2654 2694 3912 3968 3856 0 0 0 0 0 0 28.83 14.58 28.83

3714 end dive: TARGET_DEPTH_EXCEEDED

state 3714 begin apogee

3717 -0.13 0.0 2654 2848 3969 3856 500.6 -12.4 294 3843 0.77 0.00 122.57 1.707 10246 0.243 0.000 2858 2848 3316 3337 3295 0 0 0 0 0 0 14.45 28.83 13.19

3846 end apogee: CONTROL_FINISHED_OK

state 3846 begin climb

3847 0.70 145.9 2858 2849 3333 3289 504.1 0.0 298 3978 0.93 0.00 121.45 1.587 10246 0.142 0.000 3128 2848 2722 2730 2714 0 0 0 0 0 0 13.84 28.83 13.10

4254 0.63 145.9 3129 2849 2725 2701 459.2 13.4 312 4256 0.00 0.00 0.00 0.000 6 0.000 0.000 3128 2848 2713 2725 2701 0 0 0 0 0 0 28.83 28.83 28.83

4554 0.55 145.9 3129 2854 2725 2701 418.7 13.6 322 4562 0.15 2.40 0.00 0.000 4612 0.278 0.071 3103 1452 2710 2721 2700 0 0 0 0 0 0 14.18 14.31 28.83

4586 0.56 156.5 3104 1452 2725 2701 415.1 11.3 328 4605 0.00 2.47 9.90 1.603 9222 0.000 0.099 3103 2834 2672 2683 2661 0 0 0 0 0 0 28.83 14.31 13.60

4919 0.56 156.5 3104 2835 2684 2659 374.4 12.4 344 4921 0.00 0.00 0.00 0.000 6 0.000 0.000 3103 2834 2671 2684 2658 0 0 0 0 0 0 28.83 28.83 28.83

5219 0.56 156.5 3103 2835 2685 2658 337.9 12.1 354 5221 0.00 0.00 0.00 0.000 6 0.000 0.000 3102 2834 2670 2684 2657 0 0 0 0 0 0 28.83 28.83 28.83

5519 0.56 160.4 3103 2834 2685 2657 302.4 11.7 364 5527 0.00 2.35 0.00 0.000 516 0.000 0.075 3112 1447 2670 2684 2657 0 0 0 0 0 0 28.83 14.47 28.83

5570 0.58 186.2 3113 1448 2685 2658 296.8 10.5 374 5604 0.00 2.47 25.35 1.574 9222 0.000 0.099 3112 2848 2552 2563 2542 0 0 0 0 0 0 28.83 14.47 13.68

5918 0.58 186.2 3113 2848 2564 2537 252.7 12.8 392 5920 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2848 2553 2563 2544 0 0 0 0 0 0 28.83 28.83 28.83

6218 0.58 186.2 3113 2849 2563 2538 215.6 12.0 420 6226 0.00 2.40 0.00 0.000 516 0.000 0.073 3121 1445 2549 2563 2536 0 0 0 0 0 0 28.83 14.42 28.83

6295 0.64 204.4 3121 1445 2564 2536 206.9 10.9 435 6319 0.00 2.47 15.85 1.473 9222 0.000 0.099 3121 2844 2479 2490 2469 0 0 0 0 0 0 28.83 14.42 13.73

6613 0.66 235.2 3122 2844 2490 2467 168.8 10.2 468 6651 0.00 2.45 26.40 1.350 8708 0.000 0.073 3124 1445 2351 2357 2346 0 0 0 0 0 0 28.83 14.21 13.74

6686 0.77 276.5 3126 1446 2357 2347 161.5 9.7 479 6729 0.00 2.50 35.70 1.250 9222 0.000 0.098 3125 2841 2184 2186 2183 0 0 0 0 0 0 28.83 14.23 13.59

7033 0.86 307.5 3126 2841 2185 2173 124.1 10.2 516 7068 0.17 2.45 25.80 1.291 10756 0.111 0.073 3200 1448 2055 2056 2054 0 0 0 0 0 0 14.34 14.12 13.69

7117 0.86 307.5 3201 1448 2056 2050 112.8 13.6 531 7127 0.00 2.53 0.00 0.000 1030 0.000 0.098 3200 2845 2052 2055 2049 0 0 0 0 0 0 28.83 14.16 28.83

7422 0.86 307.5 3201 2845 2056 2042 68.5 13.6 562 7430 0.00 2.42 0.00 0.000 516 0.000 0.074 3210 1440 2051 2055 2047 0 0 0 0 0 0 28.83 14.28 28.83

7488 0.86 307.5 3211 1441 2056 2046 60.3 12.3 575 7500 0.00 2.50 0.00 0.000 1030 0.000 0.099 3209 2840 2050 2056 2045 0 0 0 0 0 0 28.83 14.32 28.83

7794 0.91 381.7 3211 2841 2056 2046 30.9 7.9 606 7830 0.00 0.00 31.30 0.282 8710 0.000 0.000 3210 2840 1758 1751 1766 0 0 0 0 0 0 28.83 28.83 14.21

8124 1.19 613.3 3211 2841 1754 1761 13.6 -0.7 641 8234 0.22 2.47 101.00 0.230 11012 0.105 0.075 3302 1446 813 805 821 0 0 0 0 0 0 14.38 14.26 14.19

8328 1.42 719.7 3303 1446 808 816 4.5 6.1 676 8365 0.20 2.50 30.10 0.199 11266 0.112 0.101 3377 2840 537 510 565 0 0 0 0 0 0 14.33 14.30 28.83

8365 end climb: SURFACE_DEPTH_REACHED

state 8365 begin surface coast

8383 end surface coast: CONTROL_FINISHED_OK

state 8383 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	27	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	38	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	15	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	-4708.0342	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	300714,011331,7102.674,-14421.701,12,0.8,32,22.4	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	1.32	MHEAD_RNG_PITCHd_Wd	335.6,62123,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-77.5	D_GRID	1000
GPS2	300714,012356,7102.657,-14421.617,18,0.8,38,22.4

FINISH	0.5,1.019282	_10V_AH	13.31,0.000
SM_CCo	8466,0.00,0.000,0,0,535,682.67	FG_AHR_24Vo	0.000
SM_GC	1.21,9.77,0.20,0.00,0.087,0.103,0.000,206,2700,535,-8.42,1.55,682.67,0,0,0,0,0,0,14.31,14.35,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	387	MEM	303236
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23395,685
IRIDIUM_FIX	7026.32,-14423.13,290714,224603	CAP_FILE_SIZE	120513,0
TT8_MAMPS	0.04494,0.04494	CFSIZE	2097872896,2086436864
HUMID	46.02	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.60186	INTR	1,9053.39,0x2378b6,7,5
TCM_TEMP	12.60	SOUNDSPEED	1448.9
XPDR_PINGS	2	EKF	8558,4263.858887,-8661.467773,0.507131,0.020710,-0.001817,0.047586,0.000158,0.001497,0.000095,0.000525,0.000525,0.000034
SC_FREEKB	3926048	CURRENT	0.042,128.87,1
TM_FREEKB	7613832	GPS	300714,034648,7103.739,-14421.003,39,0.8,59,22.4
_24V_AH	13.10,10.010

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	403	133.08	nil	0	0	0.00
Roll_motor	54	122	87.91	nil	0	0	0.00
VBD_pump_during_apogee	545	1706	12194.59	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	8397	15	1682.46
Iridium_during_xfer	388	180	919.19	TMICL	8450	13	1446.56
Transponder_ping	2	420	11.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	39	20	11.15
TT8	0	0	0.00
LPSleep	6270	2	192.79
TT8_Active	680	9	85.80
TT8_Sampling	2069	28	797.53
TT8_CF8	73	35	35.13
TT8_Kalman	0	0	0.00
Analog_circuits	1694	10	225.51
GPS_charging	0	0	0.00
Compass	1019	0	10.17
RAFOS	0	0	0.00
Transponder	13	30	5.26

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	158	2708	454	529	0.0	0.0	0	96	0.00	0.00	-73.00	0.000	16386	0.000	0.000	155	2709	2388	2393	2383	0	0	0	0	0	0	28.83	28.83	28.83
98	-0.70	-145.9	156	2709	2394	2385	3.6	-4.7	7	145	12.35	2.47	-25.02	0.000	18948	0.404	0.097	2671	1300	3914	3975	3853	0	0	0	0	0	0	14.08	14.26	14.46
264	-0.59	-145.9	2672	1300	3975	3858	47.0	-22.1	38	273	0.22	2.53	0.00	0.000	3078	0.299	0.099	2710	2710	3915	3974	3857	0	0	0	0	0	0	14.20	14.30	28.83
569	-0.59	-145.9	2710	2711	3975	3860	101.7	-16.2	69	577	0.00	1.90	0.00	0.000	260	0.000	0.107	2704	3792	3917	3975	3859	0	0	0	0	0	0	28.83	14.34	28.83
656	-0.59	-145.9	2704	3793	3975	3861	116.2	-16.3	86	665	0.00	1.85	0.00	0.000	1030	0.000	0.058	2704	2684	3917	3975	3860	0	0	0	0	0	0	28.83	14.43	28.83
961	-0.59	-145.9	2704	2685	3975	3860	161.4	-13.6	117	964	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2684	3916	3974	3859	0	0	0	0	0	0	28.83	28.83	28.83
1261	-0.65	-145.9	2704	2684	3976	3860	199.5	-11.3	147	1264	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2684	3917	3974	3860	0	0	0	0	0	0	28.83	28.83	28.83
1561	-0.72	-145.9	2704	2684	3975	3859	234.1	-11.3	177	1565	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2684	3916	3974	3859	0	0	0	0	0	0	28.83	28.83	28.83
1871	-0.80	-145.9	2704	2685	3970	3860	266.5	-10.5	198	1874	0.17	0.00	0.00	0.000	4102	0.118	0.000	2638	2684	3915	3972	3859	0	0	0	0	0	0	14.52	28.83	28.83
2172	-0.80	-145.9	2638	2684	3972	3859	309.1	-14.2	208	2179	0.00	1.95	0.00	0.000	260	0.000	0.111	2630	3794	3919	3979	3859	0	0	0	0	0	0	28.83	14.49	28.83
2218	-0.72	-145.9	2631	3796	3970	3860	316.1	-16.0	217	2226	0.17	1.77	0.00	0.000	3078	0.272	0.062	2669	2703	3914	3970	3859	0	0	0	0	0	0	14.41	14.57	28.83
2535	-0.72	-145.9	2670	2702	3971	3859	354.9	-12.0	230	2537	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2702	3914	3970	3858	0	0	0	0	0	0	28.83	28.83	28.83
2835	-0.72	-145.9	2670	2703	3970	3859	390.8	-12.0	240	2843	0.00	1.90	0.00	0.000	260	0.000	0.110	2663	3785	3913	3969	3858	0	0	0	0	0	0	28.83	14.52	28.83
2902	-0.72	-145.9	2664	3786	3970	3857	399.7	-13.2	253	2911	0.00	1.83	0.00	0.000	1030	0.000	0.061	2663	2695	3913	3969	3857	0	0	0	0	0	0	28.83	14.58	28.83
3231	-0.72	-145.9	2663	2695	3970	3857	440.7	-12.2	268	3233	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2695	3913	3969	3857	0	0	0	0	0	0	28.83	28.83	28.83
3530	-0.72	-145.9	2664	2695	3970	3857	477.2	-12.2	278	3538	0.00	1.92	0.00	0.000	260	0.000	0.109	2654	3792	3913	3969	3857	0	0	0	0	0	0	28.83	14.52	28.83
3582	-0.72	-145.9	2655	3792	3964	3857	484.0	-13.1	288	3590	0.00	1.83	0.00	0.000	1030	0.000	0.060	2654	2694	3912	3968	3856	0	0	0	0	0	0	28.83	14.58	28.83
3714	end dive: TARGET_DEPTH_EXCEEDED
state	3714	begin apogee
3717	-0.13	0.0	2654	2848	3969	3856	500.6	-12.4	294	3843	0.77	0.00	122.57	1.707	10246	0.243	0.000	2858	2848	3316	3337	3295	0	0	0	0	0	0	14.45	28.83	13.19
3846	end apogee: CONTROL_FINISHED_OK
state	3846	begin climb
3847	0.70	145.9	2858	2849	3333	3289	504.1	0.0	298	3978	0.93	0.00	121.45	1.587	10246	0.142	0.000	3128	2848	2722	2730	2714	0	0	0	0	0	0	13.84	28.83	13.10
4254	0.63	145.9	3129	2849	2725	2701	459.2	13.4	312	4256	0.00	0.00	0.00	0.000	6	0.000	0.000	3128	2848	2713	2725	2701	0	0	0	0	0	0	28.83	28.83	28.83
4554	0.55	145.9	3129	2854	2725	2701	418.7	13.6	322	4562	0.15	2.40	0.00	0.000	4612	0.278	0.071	3103	1452	2710	2721	2700	0	0	0	0	0	0	14.18	14.31	28.83
4586	0.56	156.5	3104	1452	2725	2701	415.1	11.3	328	4605	0.00	2.47	9.90	1.603	9222	0.000	0.099	3103	2834	2672	2683	2661	0	0	0	0	0	0	28.83	14.31	13.60
4919	0.56	156.5	3104	2835	2684	2659	374.4	12.4	344	4921	0.00	0.00	0.00	0.000	6	0.000	0.000	3103	2834	2671	2684	2658	0	0	0	0	0	0	28.83	28.83	28.83
5219	0.56	156.5	3103	2835	2685	2658	337.9	12.1	354	5221	0.00	0.00	0.00	0.000	6	0.000	0.000	3102	2834	2670	2684	2657	0	0	0	0	0	0	28.83	28.83	28.83
5519	0.56	160.4	3103	2834	2685	2657	302.4	11.7	364	5527	0.00	2.35	0.00	0.000	516	0.000	0.075	3112	1447	2670	2684	2657	0	0	0	0	0	0	28.83	14.47	28.83
5570	0.58	186.2	3113	1448	2685	2658	296.8	10.5	374	5604	0.00	2.47	25.35	1.574	9222	0.000	0.099	3112	2848	2552	2563	2542	0	0	0	0	0	0	28.83	14.47	13.68
5918	0.58	186.2	3113	2848	2564	2537	252.7	12.8	392	5920	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2848	2553	2563	2544	0	0	0	0	0	0	28.83	28.83	28.83
6218	0.58	186.2	3113	2849	2563	2538	215.6	12.0	420	6226	0.00	2.40	0.00	0.000	516	0.000	0.073	3121	1445	2549	2563	2536	0	0	0	0	0	0	28.83	14.42	28.83
6295	0.64	204.4	3121	1445	2564	2536	206.9	10.9	435	6319	0.00	2.47	15.85	1.473	9222	0.000	0.099	3121	2844	2479	2490	2469	0	0	0	0	0	0	28.83	14.42	13.73
6613	0.66	235.2	3122	2844	2490	2467	168.8	10.2	468	6651	0.00	2.45	26.40	1.350	8708	0.000	0.073	3124	1445	2351	2357	2346	0	0	0	0	0	0	28.83	14.21	13.74
6686	0.77	276.5	3126	1446	2357	2347	161.5	9.7	479	6729	0.00	2.50	35.70	1.250	9222	0.000	0.098	3125	2841	2184	2186	2183	0	0	0	0	0	0	28.83	14.23	13.59
7033	0.86	307.5	3126	2841	2185	2173	124.1	10.2	516	7068	0.17	2.45	25.80	1.291	10756	0.111	0.073	3200	1448	2055	2056	2054	0	0	0	0	0	0	14.34	14.12	13.69
7117	0.86	307.5	3201	1448	2056	2050	112.8	13.6	531	7127	0.00	2.53	0.00	0.000	1030	0.000	0.098	3200	2845	2052	2055	2049	0	0	0	0	0	0	28.83	14.16	28.83
7422	0.86	307.5	3201	2845	2056	2042	68.5	13.6	562	7430	0.00	2.42	0.00	0.000	516	0.000	0.074	3210	1440	2051	2055	2047	0	0	0	0	0	0	28.83	14.28	28.83
7488	0.86	307.5	3211	1441	2056	2046	60.3	12.3	575	7500	0.00	2.50	0.00	0.000	1030	0.000	0.099	3209	2840	2050	2056	2045	0	0	0	0	0	0	28.83	14.32	28.83
7794	0.91	381.7	3211	2841	2056	2046	30.9	7.9	606	7830	0.00	0.00	31.30	0.282	8710	0.000	0.000	3210	2840	1758	1751	1766	0	0	0	0	0	0	28.83	28.83	14.21
8124	1.19	613.3	3211	2841	1754	1761	13.6	-0.7	641	8234	0.22	2.47	101.00	0.230	11012	0.105	0.075	3302	1446	813	805	821	0	0	0	0	0	0	14.38	14.26	14.19
8328	1.42	719.7	3303	1446	808	816	4.5	6.1	676	8365	0.20	2.50	30.10	0.199	11266	0.112	0.101	3377	2840	537	510	565	0	0	0	0	0	0	14.33	14.30	28.83
8365	end climb: SURFACE_DEPTH_REACHED
state	8365	begin surface coast
8383	end surface coast: CONTROL_FINISHED_OK
state	8383	begin surface