Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 28 * 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 28 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 48 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 19 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 681.01007 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.75

D_ABORT 600 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 3317 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 3 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 140 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 180 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 20 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -4709.291 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 -4709.291

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 48 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 19 USE_ICE 0

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 7 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 10 SEABIRD_C_G -9.7475271 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1204907 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.00083350006 VBD_MIN 500

DIVE 28 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 300714,034648,7103.739,-14421.003,39,0.8,59,22.4 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 1.39 MHEAD_RNG_PITCHd_Wd 335.8,60133,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -78.7 D_GRID 1000

GPS2 300714,035731,7103.716,-14420.972,6,0.9,26,22.4

Post-dive calculations and measurements:

FINISH 0.4,1.019102 _10V_AH 13.29,0.000

SM_CCo 8386,0.00,0.000,0,0,494,692.48 FG_AHR_24Vo 0.000

SM_GC 1.19,9.70,0.20,0.00,0.089,0.099,0.000,203,2701,494,-8.41,1.27,692.48,0,0,0,0,0,0,14.31,14.34,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 388 MEM 302692

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26674,736

IRIDIUM_FIX 7032.78,-14424.66,300714,011702 CAP_FILE_SIZE 128449,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2086207488

HUMID 47.36 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.60186 INTR 0,9214.22,0x2378b6,7,5

TCM_TEMP 12.70 SOUNDSPEED 1449.3

XPDR_PINGS 4 EKF 8453,4264.771973,-8660.448242,0.413662,-0.292369,0.031012,-0.095508,0.000140,0.001332,0.000099,0.002025,0.002025,0.000050

SC_FREEKB 3925600 CURRENT 0.034,84.92,1

TM_FREEKB 7600776 GPS 300714,061838,7104.762,-14419.965,14,0.8,34,22.4

_24V_AH 13.09,10.328

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 397 128.76 nil 0 0 0.00

Roll_motor 75 119 117.40 nil 0 0 0.00

VBD_pump_during_apogee 547 1754 12581.32 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 8319 15 1646.94

Iridium_during_xfer 407 179 959.72 TMICL 8373 13 1429.88

Transponder_ping 2 420 13.74 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.62

TT8 0 0 0.00

LPSleep 6044 2 185.55

TT8_Active 700 9 88.14

TT8_Sampling 2202 28 847.29

TT8_CF8 81 35 38.50

TT8_Kalman 0 0 0.00

Analog_circuits 1798 10 238.98

GPS_charging 0 0 0.00

Compass 1091 0 10.88

RAFOS 1491 48 951.14

Transponder 13 30 5.44

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 -145.9 181 2700 494 565 0.0 0.0 0 95 0.00 0.00 -71.72 0.000 16386 0.000 0.000 179 2699 2469 2476 2462 0 0 0 0 0 0 28.83 28.83 28.83

97 -0.70 -145.9 180 2699 2479 2462 3.2 -4.0 6 138 12.10 0.00 -23.70 0.000 18950 0.397 0.000 2673 2699 3914 3974 3854 0 0 0 0 0 0 14.07 28.83 14.41

432 -0.61 -145.9 2673 2699 3976 3860 85.6 -19.9 42 440 0.12 1.92 0.00 0.000 2308 0.313 0.101 2695 3787 3917 3976 3858 0 0 0 0 0 0 14.16 14.28 28.83

664 -0.61 -145.9 2696 3789 3976 3862 127.6 -17.7 88 672 0.00 1.80 0.00 0.000 1030 0.000 0.060 2696 2692 3917 3975 3860 0 0 0 0 0 0 28.83 14.35 28.83

976 -0.61 -145.9 2696 2693 3976 3861 173.5 -13.7 120 983 0.00 1.95 0.00 0.000 260 0.000 0.109 2687 3786 3917 3975 3860 0 0 0 0 0 0 28.83 14.32 28.83

1052 -0.61 -145.9 2687 3786 3977 3860 184.5 -14.1 135 1062 0.00 1.85 0.00 0.000 1030 0.000 0.059 2686 2693 3915 3970 3860 0 0 0 0 0 0 28.83 14.37 28.83

1357 -0.61 -145.9 2687 2694 3972 3861 222.7 -12.0 166 1360 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2693 3917 3975 3860 0 0 0 0 0 0 28.83 28.83 28.83

1658 -0.66 -145.9 2687 2693 3975 3860 257.9 -11.6 192 1666 0.00 1.95 0.00 0.000 260 0.000 0.110 2678 3790 3917 3974 3860 0 0 0 0 0 0 28.83 14.38 28.83

1720 -0.66 -145.9 2679 3790 3974 3861 265.9 -13.3 204 1727 0.00 1.83 0.00 0.000 1030 0.000 0.060 2678 2702 3916 3973 3860 0 0 0 0 0 0 28.83 14.44 28.83

2052 -0.70 -145.9 2679 2702 3974 3860 304.9 -11.6 220 2055 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2702 3916 3973 3860 0 0 0 0 0 0 28.83 28.83 28.83

2352 -0.74 -145.9 2679 2703 3973 3860 339.5 -11.4 230 2360 0.00 1.92 0.00 0.000 260 0.000 0.110 2670 3792 3915 3971 3860 0 0 0 0 0 0 28.83 14.48 28.83

2449 -0.74 -145.9 2671 3793 3972 3861 352.0 -12.5 249 2459 0.00 1.83 0.00 0.000 1030 0.000 0.060 2670 2698 3915 3971 3860 0 0 0 0 0 0 28.83 14.54 28.83

2778 -0.74 -145.9 2670 2700 3971 3860 390.6 -11.7 264 2781 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2699 3914 3970 3859 0 0 0 0 0 0 28.83 28.83 28.83

3078 -0.74 -145.9 2670 2700 3971 3861 425.5 -11.6 274 3087 0.00 1.90 0.00 0.000 260 0.000 0.111 2658 3786 3914 3970 3859 0 0 0 0 0 0 28.83 14.52 28.83

3161 -0.74 -145.9 2662 3786 3970 3861 436.3 -13.2 290 3169 0.00 1.80 0.00 0.000 1030 0.000 0.061 2662 2705 3914 3969 3859 0 0 0 0 0 0 28.83 14.53 28.83

3473 -0.74 -145.9 2662 2705 3970 3859 473.9 -12.0 302 3481 0.00 1.90 0.00 0.000 260 0.000 0.109 2653 3792 3913 3968 3859 0 0 0 0 0 0 28.83 14.52 28.83

3521 -0.74 -145.9 2653 3793 3969 3860 480.3 -13.6 311 3528 0.00 1.77 0.00 0.000 1030 0.000 0.060 2653 2697 3913 3968 3859 0 0 0 0 0 0 28.83 14.54 28.83

3687 end dive: TARGET_DEPTH_EXCEEDED

state 3687 begin apogee

3690 -0.13 0.0 2653 2849 3969 3864 501.3 -12.5 319 3817 0.77 0.00 122.75 1.754 10246 0.243 0.000 2857 2852 3315 3336 3295 0 0 0 0 0 0 14.45 28.83 13.15

3820 end apogee: CONTROL_FINISHED_OK

state 3820 begin climb

3821 0.70 145.9 2857 2852 3333 3290 504.9 0.0 323 3953 0.95 0.00 121.85 1.609 10246 0.143 0.000 3134 2852 2718 2725 2711 0 0 0 0 0 0 13.83 28.83 13.09

4228 0.62 145.9 3135 2852 2724 2701 459.1 14.0 337 4237 0.00 2.45 0.00 0.000 516 0.000 0.073 3144 1444 2712 2723 2701 0 0 0 0 0 0 28.83 14.16 28.83

4266 0.62 145.9 3145 1445 2724 2702 454.0 13.6 344 4274 0.15 2.53 0.00 0.000 5126 0.273 0.098 3112 2842 2711 2722 2700 0 0 0 0 0 0 14.07 14.17 28.83

4593 0.57 145.9 3113 2842 2724 2706 412.6 12.5 359 4601 0.00 2.40 0.00 0.000 516 0.000 0.073 3123 1446 2711 2723 2700 0 0 0 0 0 0 28.83 14.32 28.83

4630 0.57 146.0 3124 1447 2723 2701 408.1 11.9 366 4638 0.00 2.47 0.00 0.000 1030 0.000 0.098 3123 2841 2711 2723 2700 0 0 0 0 0 0 28.83 14.33 28.83

4957 0.51 146.0 3124 2841 2724 2699 366.1 13.0 381 4968 0.17 2.38 0.00 0.000 4612 0.268 0.070 3089 1450 2711 2723 2699 0 0 0 0 0 0 14.29 14.40 28.83

4992 0.59 181.4 3090 1457 2724 2699 362.3 10.0 387 5031 0.00 2.47 29.65 1.595 9222 0.000 0.099 3089 2848 2572 2582 2562 0 0 0 0 0 0 28.83 14.40 13.57

5322 0.59 182.0 3089 2848 2582 2556 323.2 11.9 403 5330 0.00 2.40 0.00 0.000 516 0.000 0.073 3096 1447 2568 2581 2556 0 0 0 0 0 0 28.83 14.35 28.83

5369 0.67 202.6 3096 1448 2582 2556 318.0 10.8 412 5396 0.00 2.47 18.12 1.532 9222 0.000 0.099 3096 2841 2484 2494 2475 0 0 0 0 0 0 28.83 14.35 13.64

5720 0.67 202.6 3097 2841 2494 2470 273.8 12.6 431 5728 0.00 2.38 0.00 0.000 516 0.000 0.073 3105 1450 2482 2494 2471 0 0 0 0 0 0 28.83 14.38 28.83

5767 0.72 202.6 3105 1451 2495 2472 268.2 12.3 440 5775 0.12 2.47 0.00 0.000 3078 0.138 0.098 3160 2846 2482 2494 2471 0 0 0 0 0 0 14.41 14.38 28.83

6075 0.64 202.6 3161 2847 2495 2472 218.0 16.0 464 6083 0.17 2.38 0.00 0.000 4612 0.280 0.073 3131 1450 2482 2494 2470 0 0 0 0 0 0 14.31 14.42 28.83

6112 0.64 202.6 3132 1449 2495 2470 212.8 13.0 471 6121 0.00 2.45 0.00 0.000 1030 0.000 0.098 3131 2840 2480 2494 2466 0 0 0 0 0 0 28.83 14.41 28.83

6417 0.65 206.0 3132 2842 2495 2471 173.2 11.7 502 6425 0.00 2.38 0.00 0.000 516 0.000 0.073 3139 1440 2483 2496 2470 0 0 0 0 0 0 28.83 14.45 28.83

6434 0.65 211.3 3140 1441 2495 2471 171.1 11.6 505 6451 0.00 2.47 7.97 1.359 9222 0.000 0.097 3139 2845 2451 2463 2440 0 0 0 0 0 0 28.83 14.44 13.83

6756 0.68 257.2 3139 2840 2465 2434 137.7 9.4 538 6803 0.00 2.45 39.67 1.349 8708 0.000 0.070 3142 1450 2260 2265 2256 0 0 0 0 0 0 28.83 14.14 13.65

6917 0.79 300.7 3143 1450 2263 2252 122.1 9.5 568 6960 0.00 2.50 35.88 1.257 9222 0.000 0.099 3142 2843 2087 2088 2086 0 0 0 0 0 0 28.83 14.24 13.55

7254 0.87 321.5 3143 2843 2085 2073 84.7 10.8 604 7271 0.15 2.47 8.12 0.441 10756 0.119 0.073 3208 1450 2007 2010 2005 0 0 0 0 0 0 14.31 14.26 14.07

7300 0.87 321.5 3210 1451 2017 2006 78.5 14.0 612 7309 0.00 2.50 0.00 0.000 1030 0.000 0.099 3209 2845 2011 2018 2005 0 0 0 0 0 0 28.83 14.25 28.83

7613 0.90 365.4 3209 2845 2020 2006 40.3 9.5 644 7641 0.00 2.40 20.23 0.314 8708 0.000 0.071 3222 1448 1825 1819 1832 0 0 0 0 0 0 28.83 14.32 14.19

7761 1.00 419.7 3217 1449 1823 1834 26.7 8.9 672 7795 0.00 2.47 24.62 0.275 9222 0.000 0.100 3219 2839 1602 1595 1610 0 0 0 0 0 0 28.83 14.35 14.16

8099 1.31 626.9 3217 2839 1608 1598 14.6 0.6 708 8196 0.35 1.75 90.45 0.236 10500 0.090 0.109 3344 3786 758 745 771 0 0 0 0 0 0 14.40 14.26 14.19

8206 1.39 737.6 3345 3786 745 772 11.0 5.9 724 8240 0.00 1.60 28.60 0.223 9222 0.000 0.058 3351 2836 497 466 528 0 0 0 0 0 0 28.83 14.34 14.18

8293 end climb: SURFACE_DEPTH_REACHED

state 8293 begin surface coast

8303 end surface coast: CONTROL_FINISHED_OK

state 8303 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	28	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	48	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	19	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	681.01007	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.75
D_ABORT	600	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	3317	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	3	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	140	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	180	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	20	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-4709.291	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	300714,034648,7103.739,-14421.003,39,0.8,59,22.4	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	1.39	MHEAD_RNG_PITCHd_Wd	335.8,60133,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-78.7	D_GRID	1000
GPS2	300714,035731,7103.716,-14420.972,6,0.9,26,22.4

FINISH	0.4,1.019102	_10V_AH	13.29,0.000
SM_CCo	8386,0.00,0.000,0,0,494,692.48	FG_AHR_24Vo	0.000
SM_GC	1.19,9.70,0.20,0.00,0.089,0.099,0.000,203,2701,494,-8.41,1.27,692.48,0,0,0,0,0,0,14.31,14.34,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	388	MEM	302692
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26674,736
IRIDIUM_FIX	7032.78,-14424.66,300714,011702	CAP_FILE_SIZE	128449,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2086207488
HUMID	47.36	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.60186	INTR	0,9214.22,0x2378b6,7,5
TCM_TEMP	12.70	SOUNDSPEED	1449.3
XPDR_PINGS	4	EKF	8453,4264.771973,-8660.448242,0.413662,-0.292369,0.031012,-0.095508,0.000140,0.001332,0.000099,0.002025,0.002025,0.000050
SC_FREEKB	3925600	CURRENT	0.034,84.92,1
TM_FREEKB	7600776	GPS	300714,061838,7104.762,-14419.965,14,0.8,34,22.4
_24V_AH	13.09,10.328

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	397	128.76	nil	0	0	0.00
Roll_motor	75	119	117.40	nil	0	0	0.00
VBD_pump_during_apogee	547	1754	12581.32	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	8319	15	1646.94
Iridium_during_xfer	407	179	959.72	TMICL	8373	13	1429.88
Transponder_ping	2	420	13.74	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.62
TT8	0	0	0.00
LPSleep	6044	2	185.55
TT8_Active	700	9	88.14
TT8_Sampling	2202	28	847.29
TT8_CF8	81	35	38.50
TT8_Kalman	0	0	0.00
Analog_circuits	1798	10	238.98
GPS_charging	0	0	0.00
Compass	1091	0	10.88
RAFOS	1491	48	951.14
Transponder	13	30	5.44

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	181	2700	494	565	0.0	0.0	0	95	0.00	0.00	-71.72	0.000	16386	0.000	0.000	179	2699	2469	2476	2462	0	0	0	0	0	0	28.83	28.83	28.83
97	-0.70	-145.9	180	2699	2479	2462	3.2	-4.0	6	138	12.10	0.00	-23.70	0.000	18950	0.397	0.000	2673	2699	3914	3974	3854	0	0	0	0	0	0	14.07	28.83	14.41
432	-0.61	-145.9	2673	2699	3976	3860	85.6	-19.9	42	440	0.12	1.92	0.00	0.000	2308	0.313	0.101	2695	3787	3917	3976	3858	0	0	0	0	0	0	14.16	14.28	28.83
664	-0.61	-145.9	2696	3789	3976	3862	127.6	-17.7	88	672	0.00	1.80	0.00	0.000	1030	0.000	0.060	2696	2692	3917	3975	3860	0	0	0	0	0	0	28.83	14.35	28.83
976	-0.61	-145.9	2696	2693	3976	3861	173.5	-13.7	120	983	0.00	1.95	0.00	0.000	260	0.000	0.109	2687	3786	3917	3975	3860	0	0	0	0	0	0	28.83	14.32	28.83
1052	-0.61	-145.9	2687	3786	3977	3860	184.5	-14.1	135	1062	0.00	1.85	0.00	0.000	1030	0.000	0.059	2686	2693	3915	3970	3860	0	0	0	0	0	0	28.83	14.37	28.83
1357	-0.61	-145.9	2687	2694	3972	3861	222.7	-12.0	166	1360	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2693	3917	3975	3860	0	0	0	0	0	0	28.83	28.83	28.83
1658	-0.66	-145.9	2687	2693	3975	3860	257.9	-11.6	192	1666	0.00	1.95	0.00	0.000	260	0.000	0.110	2678	3790	3917	3974	3860	0	0	0	0	0	0	28.83	14.38	28.83
1720	-0.66	-145.9	2679	3790	3974	3861	265.9	-13.3	204	1727	0.00	1.83	0.00	0.000	1030	0.000	0.060	2678	2702	3916	3973	3860	0	0	0	0	0	0	28.83	14.44	28.83
2052	-0.70	-145.9	2679	2702	3974	3860	304.9	-11.6	220	2055	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2702	3916	3973	3860	0	0	0	0	0	0	28.83	28.83	28.83
2352	-0.74	-145.9	2679	2703	3973	3860	339.5	-11.4	230	2360	0.00	1.92	0.00	0.000	260	0.000	0.110	2670	3792	3915	3971	3860	0	0	0	0	0	0	28.83	14.48	28.83
2449	-0.74	-145.9	2671	3793	3972	3861	352.0	-12.5	249	2459	0.00	1.83	0.00	0.000	1030	0.000	0.060	2670	2698	3915	3971	3860	0	0	0	0	0	0	28.83	14.54	28.83
2778	-0.74	-145.9	2670	2700	3971	3860	390.6	-11.7	264	2781	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2699	3914	3970	3859	0	0	0	0	0	0	28.83	28.83	28.83
3078	-0.74	-145.9	2670	2700	3971	3861	425.5	-11.6	274	3087	0.00	1.90	0.00	0.000	260	0.000	0.111	2658	3786	3914	3970	3859	0	0	0	0	0	0	28.83	14.52	28.83
3161	-0.74	-145.9	2662	3786	3970	3861	436.3	-13.2	290	3169	0.00	1.80	0.00	0.000	1030	0.000	0.061	2662	2705	3914	3969	3859	0	0	0	0	0	0	28.83	14.53	28.83
3473	-0.74	-145.9	2662	2705	3970	3859	473.9	-12.0	302	3481	0.00	1.90	0.00	0.000	260	0.000	0.109	2653	3792	3913	3968	3859	0	0	0	0	0	0	28.83	14.52	28.83
3521	-0.74	-145.9	2653	3793	3969	3860	480.3	-13.6	311	3528	0.00	1.77	0.00	0.000	1030	0.000	0.060	2653	2697	3913	3968	3859	0	0	0	0	0	0	28.83	14.54	28.83
3687	end dive: TARGET_DEPTH_EXCEEDED
state	3687	begin apogee
3690	-0.13	0.0	2653	2849	3969	3864	501.3	-12.5	319	3817	0.77	0.00	122.75	1.754	10246	0.243	0.000	2857	2852	3315	3336	3295	0	0	0	0	0	0	14.45	28.83	13.15
3820	end apogee: CONTROL_FINISHED_OK
state	3820	begin climb
3821	0.70	145.9	2857	2852	3333	3290	504.9	0.0	323	3953	0.95	0.00	121.85	1.609	10246	0.143	0.000	3134	2852	2718	2725	2711	0	0	0	0	0	0	13.83	28.83	13.09
4228	0.62	145.9	3135	2852	2724	2701	459.1	14.0	337	4237	0.00	2.45	0.00	0.000	516	0.000	0.073	3144	1444	2712	2723	2701	0	0	0	0	0	0	28.83	14.16	28.83
4266	0.62	145.9	3145	1445	2724	2702	454.0	13.6	344	4274	0.15	2.53	0.00	0.000	5126	0.273	0.098	3112	2842	2711	2722	2700	0	0	0	0	0	0	14.07	14.17	28.83
4593	0.57	145.9	3113	2842	2724	2706	412.6	12.5	359	4601	0.00	2.40	0.00	0.000	516	0.000	0.073	3123	1446	2711	2723	2700	0	0	0	0	0	0	28.83	14.32	28.83
4630	0.57	146.0	3124	1447	2723	2701	408.1	11.9	366	4638	0.00	2.47	0.00	0.000	1030	0.000	0.098	3123	2841	2711	2723	2700	0	0	0	0	0	0	28.83	14.33	28.83
4957	0.51	146.0	3124	2841	2724	2699	366.1	13.0	381	4968	0.17	2.38	0.00	0.000	4612	0.268	0.070	3089	1450	2711	2723	2699	0	0	0	0	0	0	14.29	14.40	28.83
4992	0.59	181.4	3090	1457	2724	2699	362.3	10.0	387	5031	0.00	2.47	29.65	1.595	9222	0.000	0.099	3089	2848	2572	2582	2562	0	0	0	0	0	0	28.83	14.40	13.57
5322	0.59	182.0	3089	2848	2582	2556	323.2	11.9	403	5330	0.00	2.40	0.00	0.000	516	0.000	0.073	3096	1447	2568	2581	2556	0	0	0	0	0	0	28.83	14.35	28.83
5369	0.67	202.6	3096	1448	2582	2556	318.0	10.8	412	5396	0.00	2.47	18.12	1.532	9222	0.000	0.099	3096	2841	2484	2494	2475	0	0	0	0	0	0	28.83	14.35	13.64
5720	0.67	202.6	3097	2841	2494	2470	273.8	12.6	431	5728	0.00	2.38	0.00	0.000	516	0.000	0.073	3105	1450	2482	2494	2471	0	0	0	0	0	0	28.83	14.38	28.83
5767	0.72	202.6	3105	1451	2495	2472	268.2	12.3	440	5775	0.12	2.47	0.00	0.000	3078	0.138	0.098	3160	2846	2482	2494	2471	0	0	0	0	0	0	14.41	14.38	28.83
6075	0.64	202.6	3161	2847	2495	2472	218.0	16.0	464	6083	0.17	2.38	0.00	0.000	4612	0.280	0.073	3131	1450	2482	2494	2470	0	0	0	0	0	0	14.31	14.42	28.83
6112	0.64	202.6	3132	1449	2495	2470	212.8	13.0	471	6121	0.00	2.45	0.00	0.000	1030	0.000	0.098	3131	2840	2480	2494	2466	0	0	0	0	0	0	28.83	14.41	28.83
6417	0.65	206.0	3132	2842	2495	2471	173.2	11.7	502	6425	0.00	2.38	0.00	0.000	516	0.000	0.073	3139	1440	2483	2496	2470	0	0	0	0	0	0	28.83	14.45	28.83
6434	0.65	211.3	3140	1441	2495	2471	171.1	11.6	505	6451	0.00	2.47	7.97	1.359	9222	0.000	0.097	3139	2845	2451	2463	2440	0	0	0	0	0	0	28.83	14.44	13.83
6756	0.68	257.2	3139	2840	2465	2434	137.7	9.4	538	6803	0.00	2.45	39.67	1.349	8708	0.000	0.070	3142	1450	2260	2265	2256	0	0	0	0	0	0	28.83	14.14	13.65
6917	0.79	300.7	3143	1450	2263	2252	122.1	9.5	568	6960	0.00	2.50	35.88	1.257	9222	0.000	0.099	3142	2843	2087	2088	2086	0	0	0	0	0	0	28.83	14.24	13.55
7254	0.87	321.5	3143	2843	2085	2073	84.7	10.8	604	7271	0.15	2.47	8.12	0.441	10756	0.119	0.073	3208	1450	2007	2010	2005	0	0	0	0	0	0	14.31	14.26	14.07
7300	0.87	321.5	3210	1451	2017	2006	78.5	14.0	612	7309	0.00	2.50	0.00	0.000	1030	0.000	0.099	3209	2845	2011	2018	2005	0	0	0	0	0	0	28.83	14.25	28.83
7613	0.90	365.4	3209	2845	2020	2006	40.3	9.5	644	7641	0.00	2.40	20.23	0.314	8708	0.000	0.071	3222	1448	1825	1819	1832	0	0	0	0	0	0	28.83	14.32	14.19
7761	1.00	419.7	3217	1449	1823	1834	26.7	8.9	672	7795	0.00	2.47	24.62	0.275	9222	0.000	0.100	3219	2839	1602	1595	1610	0	0	0	0	0	0	28.83	14.35	14.16
8099	1.31	626.9	3217	2839	1608	1598	14.6	0.6	708	8196	0.35	1.75	90.45	0.236	10500	0.090	0.109	3344	3786	758	745	771	0	0	0	0	0	0	14.40	14.26	14.19
8206	1.39	737.6	3345	3786	745	772	11.0	5.9	724	8240	0.00	1.60	28.60	0.223	9222	0.000	0.058	3351	2836	497	466	528	0	0	0	0	0	0	28.83	14.34	14.18
8293	end climb: SURFACE_DEPTH_REACHED
state	8293	begin surface coast
8303	end surface coast: CONTROL_FINISHED_OK
state	8303	begin surface