Glider dive log

MIZ Jul14 * SG197 * Dive index * Mission links * Dive 28 * 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 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 33 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 16 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 -6972.0386 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 -6972.0386

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 16 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 28 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 290714,205556,7059.872,-14441.201,45,0.8,65,28.3 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 1.83 MHEAD_RNG_PITCHd_Wd 296.8,78073,-22.3,-11.905,-26.01,1887

_SM_ANGLEo -71.3 D_GRID 1000

GPS2 290714,210615,7059.862,-14441.231,14,0.8,34,28.3

Post-dive calculations and measurements:

FINISH 1.0,1.011630 _10V_AH 12.71,0.000

SM_CCo 8658,21.35,0.187,0,0,537,675.07 FG_AHR_24Vo 0.000

SM_GC 1.74,8.30,0.28,21.35,0.092,0.133,0.187,179,2556,537,-7.19,-0.62,675.07,0,0,0,0,0,0,14.52,14.52,14.45 FG_AHR_10Vo 0.000

RAFOS_CLK 832780 MEM 302688

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 26685,793

IRIDIUM_FIX 7026.32,-14445.36,290714,184127 CAP_FILE_SIZE 132070,0

TT8_MAMPS 0.041944,0.041944 CFSIZE 1047117824,1037991936

HUMID 46.49 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.63976 INTR 1,8524.78,0x234484,1,24

TCM_TEMP 12.10 SOUNDSPEED 1450.3

XPDR_PINGS 0 EKF 8745,4260.766602,-8683.463867,0.980387,0.180864,-0.154314,-0.048355,0.000132,0.001250,0.000099,0.003025,0.003025,0.000050

SC_FREEKB 3925632 CURRENT 0.008,204.75,1

TM_FREEKB 7636948 GPS 290714,233215,7100.742,-14443.542,9,3.2,29,28.3

_24V_AH 12.87,17.615

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 468 143.26 nil 0 0 0.00

Roll_motor 76 145 143.90 nil 0 0 0.00

VBD_pump_during_apogee 558 2259 16235.28 nil 0 0 0.00

VBD_pump_during_surface 21 186 51.29 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 8657 15 1750.23

Iridium_during_xfer 393 179 906.51 TMICL 8705 13 1502.70

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 20 9.67

TT8 0 0 0.00

LPSleep 6201 2 182.06

TT8_Active 750 11 111.83

TT8_Sampling 2265 30 876.95

TT8_CF8 81 43 45.72

TT8_Kalman 0 0 0.00

Analog_circuits 1866 10 237.25

GPS_charging 0 0 0.00

Compass 1173 5 74.59

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 -145.9 159 2551 474 620 0.0 0.0 0 83 0.00 0.00 -63.50 0.000 16386 0.000 0.000 157 2551 2145 2153 2138 0 0 0 0 0 0 28.83 28.83 28.83

85 -0.80 -145.9 158 2552 2154 2140 3.4 -3.0 6 134 11.12 2.15 -32.08 0.000 19204 0.468 0.145 2218 3714 3889 3865 3914 0 0 0 0 0 0 14.23 14.42 14.65

148 -0.52 -145.9 2218 3714 3866 3916 23.2 -29.3 16 157 0.43 1.95 0.00 0.000 3078 0.322 0.068 2314 2537 3890 3865 3916 0 0 0 0 0 0 14.31 14.48 28.83

453 -0.56 -145.9 2314 2538 3864 3922 73.5 -14.6 47 457 0.00 0.00 0.00 0.000 6 0.000 0.000 2314 2537 3893 3865 3922 0 0 0 0 0 0 28.83 28.83 28.83

753 -0.64 -145.9 2315 2537 3865 3923 114.7 -12.8 77 763 0.00 2.38 0.00 0.000 516 0.000 0.087 2314 1143 3893 3865 3922 0 0 0 0 0 0 28.83 14.60 28.83

877 -0.75 -145.9 2314 1144 3866 3919 129.1 -10.9 101 887 0.20 2.53 0.00 0.000 5126 0.112 0.116 2233 2554 3893 3865 3922 0 0 0 0 0 0 14.64 14.59 28.83

1191 -0.75 -145.9 2233 2554 3864 3922 178.3 -14.4 133 1200 0.00 2.42 0.00 0.000 516 0.000 0.087 2233 1141 3893 3864 3922 0 0 0 0 0 0 28.83 14.64 28.83

1209 -0.75 -145.9 2234 1141 3864 3922 180.9 -14.1 136 1218 0.00 2.53 0.00 0.000 1030 0.000 0.114 2223 2556 3893 3865 3922 0 0 0 0 0 0 28.83 14.58 28.83

1514 -0.75 -145.9 2223 2557 3863 3923 224.4 -13.7 167 1522 0.00 2.42 0.00 0.000 516 0.000 0.089 2223 1144 3892 3862 3922 0 0 0 0 0 0 28.83 14.65 28.83

1616 -0.77 -145.9 2223 1143 3858 3923 237.6 -12.4 187 1624 0.00 2.50 0.00 0.000 1030 0.000 0.115 2214 2546 3892 3862 3922 0 0 0 0 0 0 28.83 14.63 28.83

1928 -0.77 -145.9 2214 2547 3860 3922 279.7 -13.5 205 1938 0.00 2.40 0.00 0.000 516 0.000 0.090 2214 1145 3890 3859 3921 0 0 0 0 0 0 28.83 14.68 28.83

1997 -0.77 -145.9 2215 1145 3860 3922 288.8 -13.0 218 2005 0.15 2.50 0.00 0.000 3078 0.320 0.114 2237 2553 3891 3860 3922 0 0 0 0 0 0 14.55 14.66 28.83

2324 -0.82 -145.9 2237 2553 3860 3922 327.0 -11.6 233 2334 0.00 2.38 0.00 0.000 516 0.000 0.086 2237 1151 3886 3852 3921 0 0 0 0 0 0 28.83 14.70 28.83

2414 -0.88 -145.9 2237 1152 3859 3922 337.3 -11.3 250 2423 0.00 2.47 0.00 0.000 1030 0.000 0.113 2229 2548 3889 3858 3920 0 0 0 0 0 0 28.83 14.66 28.83

2719 -0.92 -145.9 2230 2550 3859 3922 373.7 -11.8 261 2729 0.12 2.40 0.00 0.000 4612 0.158 0.085 2173 1145 3889 3858 3921 0 0 0 0 0 0 14.73 14.71 28.83

2783 -0.89 -145.9 2174 1145 3858 3922 382.6 -14.1 273 2793 0.17 2.50 0.00 0.000 3078 0.320 0.115 2199 2552 3889 3858 3921 0 0 0 0 0 0 14.58 14.70 28.83

3116 -0.89 -145.9 2200 2553 3858 3921 426.7 -13.1 289 3126 0.00 2.38 0.00 0.000 516 0.000 0.086 2199 1150 3889 3857 3921 0 0 0 0 0 0 28.83 14.73 28.83

3230 -0.89 -145.9 2199 1150 3858 3921 441.3 -12.7 311 3238 0.00 2.47 0.00 0.000 1030 0.000 0.113 2191 2552 3889 3857 3921 0 0 0 0 0 0 28.83 14.70 28.83

3542 -0.89 -145.9 2191 2553 3859 3921 483.7 -13.5 323 3550 0.00 2.38 0.00 0.000 516 0.000 0.086 2191 1147 3892 3858 3926 0 0 0 0 0 0 28.83 14.73 28.83

3634 -0.89 -145.9 2192 1149 3858 3921 495.7 -13.0 341 3644 0.00 2.50 0.00 0.000 1030 0.000 0.113 2180 2558 3889 3858 3920 0 0 0 0 0 0 28.83 14.71 28.83

3667 end dive: TARGET_DEPTH_EXCEEDED

state 3667 begin apogee

3670 -0.16 0.0 2180 2403 3858 3921 500.4 -14.3 347 3822 0.98 0.00 138.38 2.260 10246 0.283 0.000 2432 2403 3294 3246 3343 0 0 0 0 1 0 14.59 28.83 12.87

3825 end apogee: CONTROL_FINISHED_OK

state 3825 begin climb

3826 0.80 145.9 2432 2403 3249 3347 505.6 0.0 352 3968 1.02 2.60 127.05 1.510 10756 0.151 0.086 2749 992 2686 2615 2758 0 0 0 0 0 0 13.87 13.78 13.24

4047 0.75 145.9 2749 992 2611 2755 489.6 12.6 389 4057 0.00 2.60 0.00 0.000 1030 0.000 0.100 2749 2407 2682 2610 2754 0 0 0 0 0 0 28.83 14.04 28.83

4376 0.66 145.9 2749 2408 2608 2755 445.5 13.4 404 4379 0.20 0.00 0.00 0.000 4102 0.301 0.000 2707 2408 2680 2607 2754 0 0 0 0 0 0 14.25 28.83 28.83

4676 0.67 159.4 2707 2408 2608 2755 411.5 11.2 414 4695 0.00 2.35 10.98 1.403 8452 0.000 0.111 2706 3718 2635 2556 2714 0 0 0 0 0 0 28.83 14.40 13.85

4744 0.59 159.4 2707 3718 2553 2712 402.7 13.9 427 4752 0.00 2.22 0.00 0.000 1030 0.000 0.068 2714 2397 2632 2552 2712 0 0 0 0 0 0 28.83 14.46 28.83

5072 0.57 160.1 2714 2397 2552 2712 363.5 11.9 442 5075 0.15 0.00 0.00 0.000 4102 0.298 0.000 2683 2395 2631 2551 2712 0 0 0 0 0 0 14.45 28.83 28.83

5372 0.63 192.6 2683 2395 2551 2712 332.8 10.1 452 5413 0.00 2.38 29.42 1.307 8452 0.000 0.113 2683 3717 2494 2411 2578 0 0 0 0 0 0 28.83 14.38 13.92

5461 0.63 192.6 2683 3717 2409 2574 322.0 12.8 468 5470 0.00 2.22 0.00 0.000 1030 0.000 0.069 2690 2396 2490 2408 2573 0 0 0 0 0 0 28.83 14.47 28.83

5774 0.67 204.4 2690 2396 2405 2573 286.8 11.3 480 5781 0.00 0.00 3.85 1.034 8198 0.000 0.000 2690 2395 2457 2375 2540 0 0 0 0 0 0 28.83 28.83 13.69

6074 0.72 217.3 2690 2396 2401 2555 253.0 11.2 490 6096 0.00 0.00 18.73 1.218 8198 0.000 0.000 2690 2394 2405 2325 2486 0 0 0 0 0 0 28.83 28.83 14.03

6374 0.78 235.5 2694 2395 2310 2470 219.0 10.9 518 6403 0.15 2.40 15.73 1.173 10500 0.130 0.117 2759 3705 2318 2237 2400 0 0 0 0 0 0 14.57 14.45 14.01

6433 0.68 235.5 2759 3706 2235 2401 210.0 17.6 528 6440 0.25 2.20 0.00 0.000 5126 0.286 0.069 2713 2395 2316 2234 2398 0 0 0 0 0 0 14.34 14.47 28.83

6745 0.74 261.7 2713 2394 2233 2398 174.2 10.5 560 6775 0.00 2.45 22.25 1.098 8452 0.000 0.116 2712 3718 2216 2130 2303 0 0 0 0 0 0 28.83 14.40 14.00

6825 0.74 261.7 2713 3718 2124 2298 164.6 12.1 574 6832 0.00 2.22 0.00 0.000 1030 0.000 0.071 2717 2401 2209 2122 2296 0 0 0 0 0 0 28.83 14.49 28.83

7137 0.84 314.2 2717 2400 2121 2296 133.4 9.0 606 7191 0.15 0.00 45.65 1.034 10246 0.130 0.000 2779 2399 1999 1904 2095 0 0 0 0 0 0 14.60 28.83 13.91

7486 0.84 314.2 2780 2399 1889 2088 88.6 12.0 641 7490 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2399 1988 1889 2088 0 0 0 0 0 0 28.83 28.83 28.83

7787 0.88 331.8 2780 2399 1889 2083 54.5 10.9 671 7801 0.00 2.35 6.85 0.295 8452 0.000 0.117 2780 3715 1937 1836 2039 0 0 0 0 0 0 28.83 14.52 14.40

7856 0.86 343.7 2780 3715 1856 2041 46.7 11.3 684 7873 0.00 2.20 7.12 0.304 9222 0.000 0.073 2789 2398 1890 1790 1990 0 0 0 0 0 0 28.83 14.58 14.40

8178 0.99 428.1 2789 2399 1810 2003 18.9 7.3 717 8227 0.00 2.45 40.17 0.232 8708 0.000 0.097 2796 995 1543 1435 1651 0 0 0 0 0 0 28.83 14.52 14.46

8451 1.35 629.6 2800 996 1445 1652 11.8 0.9 769 8554 0.38 2.50 92.05 0.212 11270 0.083 0.108 2942 2401 720 609 832 0 0 0 0 0 0 14.62 14.57 14.40

8628 end climb: SURFACE_DEPTH_REACHED

state 8628 begin surface coast

8637 end surface coast: CONTROL_FINISHED_OK

state 8637 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	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	33	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	16	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	-6972.0386	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	290714,205556,7059.872,-14441.201,45,0.8,65,28.3	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	1.83	MHEAD_RNG_PITCHd_Wd	296.8,78073,-22.3,-11.905,-26.01,1887
_SM_ANGLEo	-71.3	D_GRID	1000
GPS2	290714,210615,7059.862,-14441.231,14,0.8,34,28.3

FINISH	1.0,1.011630	_10V_AH	12.71,0.000
SM_CCo	8658,21.35,0.187,0,0,537,675.07	FG_AHR_24Vo	0.000
SM_GC	1.74,8.30,0.28,21.35,0.092,0.133,0.187,179,2556,537,-7.19,-0.62,675.07,0,0,0,0,0,0,14.52,14.52,14.45	FG_AHR_10Vo	0.000
RAFOS_CLK	832780	MEM	302688
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	26685,793
IRIDIUM_FIX	7026.32,-14445.36,290714,184127	CAP_FILE_SIZE	132070,0
TT8_MAMPS	0.041944,0.041944	CFSIZE	1047117824,1037991936
HUMID	46.49	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.63976	INTR	1,8524.78,0x234484,1,24
TCM_TEMP	12.10	SOUNDSPEED	1450.3
XPDR_PINGS	0	EKF	8745,4260.766602,-8683.463867,0.980387,0.180864,-0.154314,-0.048355,0.000132,0.001250,0.000099,0.003025,0.003025,0.000050
SC_FREEKB	3925632	CURRENT	0.008,204.75,1
TM_FREEKB	7636948	GPS	290714,233215,7100.742,-14443.542,9,3.2,29,28.3
_24V_AH	12.87,17.615

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	468	143.26	nil	0	0	0.00
Roll_motor	76	145	143.90	nil	0	0	0.00
VBD_pump_during_apogee	558	2259	16235.28	nil	0	0	0.00
VBD_pump_during_surface	21	186	51.29	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	8657	15	1750.23
Iridium_during_xfer	393	179	906.51	TMICL	8705	13	1502.70
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	20	9.67
TT8	0	0	0.00
LPSleep	6201	2	182.06
TT8_Active	750	11	111.83
TT8_Sampling	2265	30	876.95
TT8_CF8	81	43	45.72
TT8_Kalman	0	0	0.00
Analog_circuits	1866	10	237.25
GPS_charging	0	0	0.00
Compass	1173	5	74.59
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	159	2551	474	620	0.0	0.0	0	83	0.00	0.00	-63.50	0.000	16386	0.000	0.000	157	2551	2145	2153	2138	0	0	0	0	0	0	28.83	28.83	28.83
85	-0.80	-145.9	158	2552	2154	2140	3.4	-3.0	6	134	11.12	2.15	-32.08	0.000	19204	0.468	0.145	2218	3714	3889	3865	3914	0	0	0	0	0	0	14.23	14.42	14.65
148	-0.52	-145.9	2218	3714	3866	3916	23.2	-29.3	16	157	0.43	1.95	0.00	0.000	3078	0.322	0.068	2314	2537	3890	3865	3916	0	0	0	0	0	0	14.31	14.48	28.83
453	-0.56	-145.9	2314	2538	3864	3922	73.5	-14.6	47	457	0.00	0.00	0.00	0.000	6	0.000	0.000	2314	2537	3893	3865	3922	0	0	0	0	0	0	28.83	28.83	28.83
753	-0.64	-145.9	2315	2537	3865	3923	114.7	-12.8	77	763	0.00	2.38	0.00	0.000	516	0.000	0.087	2314	1143	3893	3865	3922	0	0	0	0	0	0	28.83	14.60	28.83
877	-0.75	-145.9	2314	1144	3866	3919	129.1	-10.9	101	887	0.20	2.53	0.00	0.000	5126	0.112	0.116	2233	2554	3893	3865	3922	0	0	0	0	0	0	14.64	14.59	28.83
1191	-0.75	-145.9	2233	2554	3864	3922	178.3	-14.4	133	1200	0.00	2.42	0.00	0.000	516	0.000	0.087	2233	1141	3893	3864	3922	0	0	0	0	0	0	28.83	14.64	28.83
1209	-0.75	-145.9	2234	1141	3864	3922	180.9	-14.1	136	1218	0.00	2.53	0.00	0.000	1030	0.000	0.114	2223	2556	3893	3865	3922	0	0	0	0	0	0	28.83	14.58	28.83
1514	-0.75	-145.9	2223	2557	3863	3923	224.4	-13.7	167	1522	0.00	2.42	0.00	0.000	516	0.000	0.089	2223	1144	3892	3862	3922	0	0	0	0	0	0	28.83	14.65	28.83
1616	-0.77	-145.9	2223	1143	3858	3923	237.6	-12.4	187	1624	0.00	2.50	0.00	0.000	1030	0.000	0.115	2214	2546	3892	3862	3922	0	0	0	0	0	0	28.83	14.63	28.83
1928	-0.77	-145.9	2214	2547	3860	3922	279.7	-13.5	205	1938	0.00	2.40	0.00	0.000	516	0.000	0.090	2214	1145	3890	3859	3921	0	0	0	0	0	0	28.83	14.68	28.83
1997	-0.77	-145.9	2215	1145	3860	3922	288.8	-13.0	218	2005	0.15	2.50	0.00	0.000	3078	0.320	0.114	2237	2553	3891	3860	3922	0	0	0	0	0	0	14.55	14.66	28.83
2324	-0.82	-145.9	2237	2553	3860	3922	327.0	-11.6	233	2334	0.00	2.38	0.00	0.000	516	0.000	0.086	2237	1151	3886	3852	3921	0	0	0	0	0	0	28.83	14.70	28.83
2414	-0.88	-145.9	2237	1152	3859	3922	337.3	-11.3	250	2423	0.00	2.47	0.00	0.000	1030	0.000	0.113	2229	2548	3889	3858	3920	0	0	0	0	0	0	28.83	14.66	28.83
2719	-0.92	-145.9	2230	2550	3859	3922	373.7	-11.8	261	2729	0.12	2.40	0.00	0.000	4612	0.158	0.085	2173	1145	3889	3858	3921	0	0	0	0	0	0	14.73	14.71	28.83
2783	-0.89	-145.9	2174	1145	3858	3922	382.6	-14.1	273	2793	0.17	2.50	0.00	0.000	3078	0.320	0.115	2199	2552	3889	3858	3921	0	0	0	0	0	0	14.58	14.70	28.83
3116	-0.89	-145.9	2200	2553	3858	3921	426.7	-13.1	289	3126	0.00	2.38	0.00	0.000	516	0.000	0.086	2199	1150	3889	3857	3921	0	0	0	0	0	0	28.83	14.73	28.83
3230	-0.89	-145.9	2199	1150	3858	3921	441.3	-12.7	311	3238	0.00	2.47	0.00	0.000	1030	0.000	0.113	2191	2552	3889	3857	3921	0	0	0	0	0	0	28.83	14.70	28.83
3542	-0.89	-145.9	2191	2553	3859	3921	483.7	-13.5	323	3550	0.00	2.38	0.00	0.000	516	0.000	0.086	2191	1147	3892	3858	3926	0	0	0	0	0	0	28.83	14.73	28.83
3634	-0.89	-145.9	2192	1149	3858	3921	495.7	-13.0	341	3644	0.00	2.50	0.00	0.000	1030	0.000	0.113	2180	2558	3889	3858	3920	0	0	0	0	0	0	28.83	14.71	28.83
3667	end dive: TARGET_DEPTH_EXCEEDED
state	3667	begin apogee
3670	-0.16	0.0	2180	2403	3858	3921	500.4	-14.3	347	3822	0.98	0.00	138.38	2.260	10246	0.283	0.000	2432	2403	3294	3246	3343	0	0	0	0	1	0	14.59	28.83	12.87
3825	end apogee: CONTROL_FINISHED_OK
state	3825	begin climb
3826	0.80	145.9	2432	2403	3249	3347	505.6	0.0	352	3968	1.02	2.60	127.05	1.510	10756	0.151	0.086	2749	992	2686	2615	2758	0	0	0	0	0	0	13.87	13.78	13.24
4047	0.75	145.9	2749	992	2611	2755	489.6	12.6	389	4057	0.00	2.60	0.00	0.000	1030	0.000	0.100	2749	2407	2682	2610	2754	0	0	0	0	0	0	28.83	14.04	28.83
4376	0.66	145.9	2749	2408	2608	2755	445.5	13.4	404	4379	0.20	0.00	0.00	0.000	4102	0.301	0.000	2707	2408	2680	2607	2754	0	0	0	0	0	0	14.25	28.83	28.83
4676	0.67	159.4	2707	2408	2608	2755	411.5	11.2	414	4695	0.00	2.35	10.98	1.403	8452	0.000	0.111	2706	3718	2635	2556	2714	0	0	0	0	0	0	28.83	14.40	13.85
4744	0.59	159.4	2707	3718	2553	2712	402.7	13.9	427	4752	0.00	2.22	0.00	0.000	1030	0.000	0.068	2714	2397	2632	2552	2712	0	0	0	0	0	0	28.83	14.46	28.83
5072	0.57	160.1	2714	2397	2552	2712	363.5	11.9	442	5075	0.15	0.00	0.00	0.000	4102	0.298	0.000	2683	2395	2631	2551	2712	0	0	0	0	0	0	14.45	28.83	28.83
5372	0.63	192.6	2683	2395	2551	2712	332.8	10.1	452	5413	0.00	2.38	29.42	1.307	8452	0.000	0.113	2683	3717	2494	2411	2578	0	0	0	0	0	0	28.83	14.38	13.92
5461	0.63	192.6	2683	3717	2409	2574	322.0	12.8	468	5470	0.00	2.22	0.00	0.000	1030	0.000	0.069	2690	2396	2490	2408	2573	0	0	0	0	0	0	28.83	14.47	28.83
5774	0.67	204.4	2690	2396	2405	2573	286.8	11.3	480	5781	0.00	0.00	3.85	1.034	8198	0.000	0.000	2690	2395	2457	2375	2540	0	0	0	0	0	0	28.83	28.83	13.69
6074	0.72	217.3	2690	2396	2401	2555	253.0	11.2	490	6096	0.00	0.00	18.73	1.218	8198	0.000	0.000	2690	2394	2405	2325	2486	0	0	0	0	0	0	28.83	28.83	14.03
6374	0.78	235.5	2694	2395	2310	2470	219.0	10.9	518	6403	0.15	2.40	15.73	1.173	10500	0.130	0.117	2759	3705	2318	2237	2400	0	0	0	0	0	0	14.57	14.45	14.01
6433	0.68	235.5	2759	3706	2235	2401	210.0	17.6	528	6440	0.25	2.20	0.00	0.000	5126	0.286	0.069	2713	2395	2316	2234	2398	0	0	0	0	0	0	14.34	14.47	28.83
6745	0.74	261.7	2713	2394	2233	2398	174.2	10.5	560	6775	0.00	2.45	22.25	1.098	8452	0.000	0.116	2712	3718	2216	2130	2303	0	0	0	0	0	0	28.83	14.40	14.00
6825	0.74	261.7	2713	3718	2124	2298	164.6	12.1	574	6832	0.00	2.22	0.00	0.000	1030	0.000	0.071	2717	2401	2209	2122	2296	0	0	0	0	0	0	28.83	14.49	28.83
7137	0.84	314.2	2717	2400	2121	2296	133.4	9.0	606	7191	0.15	0.00	45.65	1.034	10246	0.130	0.000	2779	2399	1999	1904	2095	0	0	0	0	0	0	14.60	28.83	13.91
7486	0.84	314.2	2780	2399	1889	2088	88.6	12.0	641	7490	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2399	1988	1889	2088	0	0	0	0	0	0	28.83	28.83	28.83
7787	0.88	331.8	2780	2399	1889	2083	54.5	10.9	671	7801	0.00	2.35	6.85	0.295	8452	0.000	0.117	2780	3715	1937	1836	2039	0	0	0	0	0	0	28.83	14.52	14.40
7856	0.86	343.7	2780	3715	1856	2041	46.7	11.3	684	7873	0.00	2.20	7.12	0.304	9222	0.000	0.073	2789	2398	1890	1790	1990	0	0	0	0	0	0	28.83	14.58	14.40
8178	0.99	428.1	2789	2399	1810	2003	18.9	7.3	717	8227	0.00	2.45	40.17	0.232	8708	0.000	0.097	2796	995	1543	1435	1651	0	0	0	0	0	0	28.83	14.52	14.46
8451	1.35	629.6	2800	996	1445	1652	11.8	0.9	769	8554	0.38	2.50	92.05	0.212	11270	0.083	0.108	2942	2401	720	609	832	0	0	0	0	0	0	14.62	14.57	14.40
8628	end climb: SURFACE_DEPTH_REACHED
state	8628	begin surface coast
8637	end surface coast: CONTROL_FINISHED_OK
state	8637	begin surface