Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 28 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 ESCAPE_HEADING 0 C_ROLL_CLIMB 2800 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 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 25 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 688.85968 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.6

D_ABORT 600 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 3349 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 140 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 180 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 COMPASS_DEVICE 97

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -21655.316 PITCH_W_GAIN 0 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044001359

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00063958467

T_WATCHDOG 10 PITCH_MIN 200 MINV_10V 11 SEABIRD_T_I 2.6420161e-05

RELAUNCH 1 PITCH_MAX 3900 FG_AHR_10V 0 SEABIRD_T_J 3.2747387e-06

APOGEE_PITCH -5 C_PITCH 2470 FG_AHR_24V 0 SEABIRD_C_G -9.7531748

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1147131

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -64.963387 SEABIRD_C_I -0.0015239087

GLIDE_SLOPE 40 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001159754 SEABIRD_C_J 0.00019379995

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54269 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 160 COMPASS_USE 4 TM_RECORDABOVE 2000.0

NAV_MODE 10 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.0099999998 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HD_A 0.0031999999 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3771 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 2.1999999e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2200 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 500 PITCH_GAIN 32 SURFACE_URGENCY_FORCE 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3900 SURFACE_URGENCY_TRY 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 200 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4736

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 40 PRESSURE_SLOPE 0.0001159754 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -64.963387 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0031999999 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 2.1999999e-06 P_OVSHOOT_WITHG 0 T_ABORT 1440

CALL_NDIVES 1 HEADING -1 RAFOS_CORR_THRESH 60 T_BOOST 4

CALL_TRIES 5 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 140

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1 T_GPS 5

CAPUPLOAD 0 ID 199 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -21655.316

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_MISSION 180

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 71 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_DEG 40 T_TURN 225

C_PITCH 2470 LOGGERDEVICE4 -1 ROLL_MAX 3771 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2800 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2200 MASS 54269 ROLL_MIN 218 UNCOM_BLEED 60

C_VBD 3349 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 25 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 18 USE_ICE 0

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 5 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 10 SEABIRD_C_G -9.7531748 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1147131 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0015239087 VBD_MIN 500

DIVE 28 N_FILEKB 8 SEABIRD_C_J 0.00019379995 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 N_GPS -20 SEABIRD_T_G 0.0044001359 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00063958467 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.6420161e-05 W_ADJ_DBAND 0

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.2747387e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 2 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.0099999998 SM_CC 688.85968

D_PITCH 0 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 0 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 290714,200514,7059.541,-14431.843,17,0.7,37,22.3 SPEED_LIMITS 0.142,0.254

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.74 MHEAD_RNG_PITCHd_Wd 295.9,81525,-21.9,-11.905,-25.13,1887

_SM_ANGLEo -70.2 D_GRID 1000

GPS2 290714,201439,7059.520,-14431.948,4,0.8,25,22.3

Post-dive calculations and measurements:

FINISH 0.9,1.019732 _10V_AH 12.65,0.000

SM_CCo 8395,0.00,0.000,0,0,500,698.86 FG_AHR_24Vo 0.000

SM_GC 1.78,8.43,1.08,0.00,0.105,0.093,0.000,200,2197,500,-7.05,0.88,698.86,0,0,0,0,0,0,14.30,14.31,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 350 MEM 300712

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 30006,886

IRIDIUM_FIX 7026.32,-14436.17,290714,173657 CAP_FILE_SIZE 131574,0

TT8_MAMPS 0.046438,0.046438 CFSIZE 2097872896,2087321600

HUMID 51.81 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.47526 INTR 0,9112.38,0x2378b6,7,5

TCM_TEMP 11.90 SOUNDSPEED 1450.6

XPDR_PINGS 0 EKF 8467,4260.437988,-8673.549805,0.860410,0.039910,-0.058108,-0.099020,0.000102,0.000963,0.000099,0.003025,0.003025,0.000050

SC_FREEKB 4013788 CURRENT 0.042,96.50,1

TM_FREEKB 7644192 GPS 290714,223608,7100.419,-14432.971,16,0.8,36,22.3

_24V_AH 12.86,60.530

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 478 142.26 nil 0 0 0.00

Roll_motor 93 148 178.97 nil 0 0 0.00

VBD_pump_during_apogee 612 2096 16503.00 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 8338 15 1694.07

Iridium_during_xfer 355 166 758.40 TMICL 8364 12 1363.01

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.15

TT8 0 0 0.00

LPSleep 5742 2 167.80

TT8_Active 774 10 107.47

TT8_Sampling 2369 29 890.20

TT8_CF8 79 36 36.64

TT8_Kalman 0 0 0.00

Analog_circuits 1918 10 242.68

GPS_charging 0 0 0.00

Compass 1304 5 82.50

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.87 -145.9 177 2200 573 514 0.0 0.0 0 84 0.00 0.00 -63.40 0.000 16386 0.000 0.000 176 2200 2152 2160 2144 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.87 -145.9 178 2201 2160 2145 3.6 -4.2 6 140 11.25 2.62 -33.25 0.000 19204 0.479 0.148 2172 3604 3947 4002 3892 0 0 0 0 0 0 13.99 14.16 14.42

334 -0.77 -145.9 2172 3604 4004 3896 71.4 -22.9 53 343 0.20 2.45 0.00 0.000 3078 0.335 0.093 2213 2196 3948 4002 3895 0 0 0 0 0 0 14.13 14.28 28.83

647 -0.77 -145.9 2213 2196 4004 3897 127.0 -16.8 85 654 0.00 2.58 0.00 0.000 260 0.000 0.129 2204 3616 3949 4002 3897 0 0 0 0 0 0 28.83 14.33 28.83

713 -0.74 -145.9 2205 3617 4002 3897 139.1 -18.7 98 724 0.00 2.45 0.00 0.000 1030 0.000 0.092 2204 2199 3949 4002 3897 0 0 0 0 0 0 28.83 14.38 28.83

1018 -0.74 -145.9 2200 2199 4004 3897 186.0 -13.9 129 1026 0.00 2.55 0.00 0.000 260 0.000 0.131 2193 3613 3949 4002 3897 0 0 0 0 0 0 28.83 14.40 28.83

1111 -0.74 -145.9 2196 3614 4002 3897 199.9 -15.4 147 1118 0.15 2.45 0.00 0.000 3078 0.305 0.093 2224 2191 3952 4009 3896 0 0 0 0 0 0 14.30 14.40 28.83

1423 -0.76 -145.9 2221 2191 4002 3897 237.2 -11.5 179 1431 0.00 2.55 0.00 0.000 260 0.000 0.132 2214 3609 3949 4002 3896 0 0 0 0 0 0 28.83 14.43 28.83

1519 -0.76 -145.9 2215 3610 4002 3896 249.2 -12.0 198 1531 0.00 2.42 0.00 0.000 1030 0.000 0.093 2214 2198 3949 4002 3896 0 0 0 0 0 0 28.83 14.46 28.83

1835 -0.79 -145.9 2215 2199 4002 3895 284.9 -11.3 210 1845 0.00 2.53 0.00 0.000 260 0.000 0.132 2204 3611 3948 4002 3895 0 0 0 0 0 0 28.83 14.47 28.83

1930 -0.79 -145.9 2203 3612 4003 3895 296.4 -12.1 228 1937 0.00 2.42 0.00 0.000 1030 0.000 0.093 2204 2195 3948 4002 3895 0 0 0 0 0 0 28.83 14.51 28.83

2262 -0.81 -145.9 2203 2195 4003 3895 334.1 -11.4 244 2269 0.00 2.53 0.00 0.000 260 0.000 0.132 2193 3610 3948 4002 3894 0 0 0 0 0 0 28.83 14.50 28.83

2384 -0.81 -145.9 2193 3610 4004 3894 349.8 -12.8 268 2391 0.00 2.40 0.00 0.000 1030 0.000 0.092 2194 2201 3948 4002 3894 0 0 0 0 0 0 28.83 14.53 28.83

2716 -0.81 -145.9 2194 2201 4002 3894 389.8 -12.0 284 2723 0.00 2.53 0.00 0.000 260 0.000 0.131 2183 3618 3947 4002 3893 0 0 0 0 0 0 28.83 14.52 28.83

2807 -0.81 -145.9 2182 3618 4003 3891 401.4 -13.0 302 2817 0.00 2.42 0.00 0.000 1030 0.000 0.093 2183 2197 3947 4002 3893 0 0 0 0 0 0 28.83 14.54 28.83

3141 -0.81 -145.9 2182 2198 4003 3894 442.1 -12.3 318 3150 0.00 2.53 0.00 0.000 260 0.000 0.131 2172 3616 3947 4002 3893 0 0 0 0 0 0 28.83 14.52 28.83

3254 -0.81 -145.9 2172 3617 4003 3892 457.2 -13.5 340 3263 0.15 2.40 0.00 0.000 3078 0.318 0.090 2202 2201 3947 4002 3892 0 0 0 0 0 0 14.44 14.55 28.83

3567 -0.84 -145.9 2202 2202 4003 3893 491.8 -11.0 352 3575 0.00 2.50 0.00 0.000 260 0.000 0.129 2193 3611 3947 4002 3892 0 0 0 0 0 0 28.83 14.54 28.83

3638 end dive: TARGET_DEPTH_EXCEEDED

state 3638 begin apogee

3642 -0.16 0.0 2194 2794 4002 3892 500.6 -12.5 366 3784 0.85 0.00 132.23 2.097 10246 0.283 0.000 2410 2793 3349 3402 3296 0 0 0 0 1 0 14.44 28.83 12.86

3786 end apogee: CONTROL_FINISHED_OK

state 3786 begin climb

3787 0.87 145.9 2410 2794 3410 3301 504.7 0.0 370 3936 1.12 1.92 132.52 1.695 10500 0.158 0.132 2739 3763 2741 2788 2694 0 0 0 0 0 0 13.73 13.55 12.96

4130 0.76 145.9 2738 3764 2787 2687 463.8 17.6 431 4139 0.10 1.73 0.00 0.000 5126 0.319 0.090 2712 2803 2735 2785 2686 0 0 0 0 0 0 13.93 14.06 28.83

4458 0.71 145.9 2712 2806 2786 2686 416.2 14.3 446 4468 0.00 2.50 0.00 0.000 516 0.000 0.103 2722 1387 2735 2785 2685 0 0 0 0 0 0 28.83 14.24 28.83

4542 0.67 145.9 2723 1388 2784 2685 405.1 13.0 462 4552 0.15 2.55 0.00 0.000 5126 0.311 0.111 2693 2807 2734 2785 2684 0 0 0 0 0 0 14.18 14.27 28.83

4856 0.63 145.9 2692 2807 2786 2685 363.7 13.1 474 4866 0.00 2.47 0.00 0.000 516 0.000 0.099 2701 1394 2734 2785 2684 0 0 0 0 0 0 28.83 14.38 28.83

4960 0.61 145.9 2701 1395 2786 2684 350.7 12.1 494 4970 0.15 2.50 0.00 0.000 5126 0.304 0.111 2671 2799 2734 2785 2684 0 0 0 0 0 0 14.29 14.38 28.83

5284 0.62 152.2 2671 2800 2786 2685 312.3 11.6 508 5292 0.00 2.45 0.00 0.000 516 0.000 0.100 2680 1387 2734 2785 2684 0 0 0 0 0 0 28.83 14.46 28.83

5371 0.64 167.6 2681 1390 2785 2684 302.8 11.1 525 5399 0.00 2.50 18.70 1.437 9222 0.000 0.112 2681 2799 2654 2711 2598 0 0 0 0 0 0 28.83 14.45 13.75

5713 0.64 167.6 2682 2800 2706 2587 260.3 12.4 542 5722 0.00 2.45 0.00 0.000 516 0.000 0.100 2691 1394 2646 2706 2586 0 0 0 0 0 0 28.83 14.42 28.83

5851 0.65 175.3 2692 1395 2706 2586 244.1 11.5 569 5861 0.00 2.53 1.62 0.232 9222 0.000 0.112 2690 2807 2633 2694 2572 0 0 0 0 0 0 28.83 14.44 14.39

6157 0.63 181.9 2690 2808 2706 2584 206.5 11.5 600 6178 0.00 2.50 11.38 1.276 8708 0.000 0.102 2700 1389 2598 2660 2536 0 0 0 0 0 0 28.83 14.36 13.84

6293 0.65 200.6 2702 1389 2657 2530 191.5 10.9 626 6315 0.00 2.53 16.95 1.297 9222 0.000 0.112 2700 2802 2530 2594 2466 0 0 0 0 0 0 28.83 14.42 13.76

6620 0.69 228.8 2700 2803 2583 2446 154.8 10.4 660 6655 0.00 2.55 25.05 1.291 8708 0.000 0.101 2710 1403 2402 2471 2333 0 0 0 0 0 0 28.83 14.21 13.71

6714 0.75 278.9 2711 1403 2465 2323 145.7 9.2 677 6770 0.00 2.53 45.00 1.286 9222 0.000 0.112 2710 2797 2197 2273 2121 0 0 0 0 0 0 28.83 14.24 13.54

7074 0.77 298.1 2710 2801 2267 2104 105.4 10.9 716 7097 0.00 2.60 15.38 1.210 8708 0.000 0.103 2720 1386 2122 2207 2038 0 0 0 0 0 0 28.83 14.19 13.71

7321 0.85 334.9 2721 1388 2199 2024 80.0 9.9 764 7344 0.00 2.55 16.92 0.379 9222 0.000 0.112 2720 2804 1983 2074 1892 0 0 0 0 0 0 28.83 14.29 14.12

7648 0.93 380.7 2720 2804 2092 1918 45.4 9.4 798 7685 0.12 2.50 25.67 0.298 10756 0.170 0.103 2774 1396 1799 1887 1712 0 0 0 0 0 0 14.38 14.31 14.21

7774 0.97 408.8 2776 1396 1901 1721 31.7 10.4 821 7798 0.00 2.53 16.67 0.263 9222 0.000 0.113 2775 2799 1680 1773 1587 0 0 0 0 0 0 28.83 14.28 14.23

8092 1.27 617.3 2774 2800 1787 1605 14.7 0.5 854 8215 0.30 2.55 110.18 0.216 10756 0.129 0.103 2889 1399 830 914 746 0 0 0 0 0 0 14.38 14.26 14.21

8224 1.43 723.9 2889 1399 918 747 9.5 6.1 874 8280 0.12 2.53 43.72 0.202 11270 0.173 0.110 2930 2801 496 542 451 0 0 0 0 0 0 14.26 14.25 14.19

8303 end climb: SURFACE_DEPTH_REACHED

state 8303 begin surface coast

8313 end surface coast: CONTROL_FINISHED_OK

state 8313 begin surface

ID	199	ESCAPE_HEADING	0	C_ROLL_CLIMB	2800	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	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	25	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	688.85968	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.6
D_ABORT	600	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	3349	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	140	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	180	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	COMPASS_DEVICE	97
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-21655.316	PITCH_W_GAIN	0	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044001359
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00063958467
T_WATCHDOG	10	PITCH_MIN	200	MINV_10V	11	SEABIRD_T_I	2.6420161e-05
RELAUNCH	1	PITCH_MAX	3900	FG_AHR_10V	0	SEABIRD_T_J	3.2747387e-06
APOGEE_PITCH	-5	C_PITCH	2470	FG_AHR_24V	0	SEABIRD_C_G	-9.7531748
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1147131
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-64.963387	SEABIRD_C_I	-0.0015239087
GLIDE_SLOPE	40	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001159754	SEABIRD_C_J	0.00019379995
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54269	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	160	COMPASS_USE	4	TM_RECORDABOVE	2000.0
NAV_MODE	10	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.0099999998	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HD_A	0.0031999999	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3771	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	2.1999999e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2200	ALTIM_PING_DELTA	5

GPS1	290714,200514,7059.541,-14431.843,17,0.7,37,22.3	SPEED_LIMITS	0.142,0.254
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.74	MHEAD_RNG_PITCHd_Wd	295.9,81525,-21.9,-11.905,-25.13,1887
_SM_ANGLEo	-70.2	D_GRID	1000
GPS2	290714,201439,7059.520,-14431.948,4,0.8,25,22.3

FINISH	0.9,1.019732	_10V_AH	12.65,0.000
SM_CCo	8395,0.00,0.000,0,0,500,698.86	FG_AHR_24Vo	0.000
SM_GC	1.78,8.43,1.08,0.00,0.105,0.093,0.000,200,2197,500,-7.05,0.88,698.86,0,0,0,0,0,0,14.30,14.31,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	350	MEM	300712
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	30006,886
IRIDIUM_FIX	7026.32,-14436.17,290714,173657	CAP_FILE_SIZE	131574,0
TT8_MAMPS	0.046438,0.046438	CFSIZE	2097872896,2087321600
HUMID	51.81	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.47526	INTR	0,9112.38,0x2378b6,7,5
TCM_TEMP	11.90	SOUNDSPEED	1450.6
XPDR_PINGS	0	EKF	8467,4260.437988,-8673.549805,0.860410,0.039910,-0.058108,-0.099020,0.000102,0.000963,0.000099,0.003025,0.003025,0.000050
SC_FREEKB	4013788	CURRENT	0.042,96.50,1
TM_FREEKB	7644192	GPS	290714,223608,7100.419,-14432.971,16,0.8,36,22.3
_24V_AH	12.86,60.530

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	478	142.26	nil	0	0	0.00
Roll_motor	93	148	178.97	nil	0	0	0.00
VBD_pump_during_apogee	612	2096	16503.00	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	8338	15	1694.07
Iridium_during_xfer	355	166	758.40	TMICL	8364	12	1363.01
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.15
TT8	0	0	0.00
LPSleep	5742	2	167.80
TT8_Active	774	10	107.47
TT8_Sampling	2369	29	890.20
TT8_CF8	79	36	36.64
TT8_Kalman	0	0	0.00
Analog_circuits	1918	10	242.68
GPS_charging	0	0	0.00
Compass	1304	5	82.50
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.87	-145.9	177	2200	573	514	0.0	0.0	0	84	0.00	0.00	-63.40	0.000	16386	0.000	0.000	176	2200	2152	2160	2144	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.87	-145.9	178	2201	2160	2145	3.6	-4.2	6	140	11.25	2.62	-33.25	0.000	19204	0.479	0.148	2172	3604	3947	4002	3892	0	0	0	0	0	0	13.99	14.16	14.42
334	-0.77	-145.9	2172	3604	4004	3896	71.4	-22.9	53	343	0.20	2.45	0.00	0.000	3078	0.335	0.093	2213	2196	3948	4002	3895	0	0	0	0	0	0	14.13	14.28	28.83
647	-0.77	-145.9	2213	2196	4004	3897	127.0	-16.8	85	654	0.00	2.58	0.00	0.000	260	0.000	0.129	2204	3616	3949	4002	3897	0	0	0	0	0	0	28.83	14.33	28.83
713	-0.74	-145.9	2205	3617	4002	3897	139.1	-18.7	98	724	0.00	2.45	0.00	0.000	1030	0.000	0.092	2204	2199	3949	4002	3897	0	0	0	0	0	0	28.83	14.38	28.83
1018	-0.74	-145.9	2200	2199	4004	3897	186.0	-13.9	129	1026	0.00	2.55	0.00	0.000	260	0.000	0.131	2193	3613	3949	4002	3897	0	0	0	0	0	0	28.83	14.40	28.83
1111	-0.74	-145.9	2196	3614	4002	3897	199.9	-15.4	147	1118	0.15	2.45	0.00	0.000	3078	0.305	0.093	2224	2191	3952	4009	3896	0	0	0	0	0	0	14.30	14.40	28.83
1423	-0.76	-145.9	2221	2191	4002	3897	237.2	-11.5	179	1431	0.00	2.55	0.00	0.000	260	0.000	0.132	2214	3609	3949	4002	3896	0	0	0	0	0	0	28.83	14.43	28.83
1519	-0.76	-145.9	2215	3610	4002	3896	249.2	-12.0	198	1531	0.00	2.42	0.00	0.000	1030	0.000	0.093	2214	2198	3949	4002	3896	0	0	0	0	0	0	28.83	14.46	28.83
1835	-0.79	-145.9	2215	2199	4002	3895	284.9	-11.3	210	1845	0.00	2.53	0.00	0.000	260	0.000	0.132	2204	3611	3948	4002	3895	0	0	0	0	0	0	28.83	14.47	28.83
1930	-0.79	-145.9	2203	3612	4003	3895	296.4	-12.1	228	1937	0.00	2.42	0.00	0.000	1030	0.000	0.093	2204	2195	3948	4002	3895	0	0	0	0	0	0	28.83	14.51	28.83
2262	-0.81	-145.9	2203	2195	4003	3895	334.1	-11.4	244	2269	0.00	2.53	0.00	0.000	260	0.000	0.132	2193	3610	3948	4002	3894	0	0	0	0	0	0	28.83	14.50	28.83
2384	-0.81	-145.9	2193	3610	4004	3894	349.8	-12.8	268	2391	0.00	2.40	0.00	0.000	1030	0.000	0.092	2194	2201	3948	4002	3894	0	0	0	0	0	0	28.83	14.53	28.83
2716	-0.81	-145.9	2194	2201	4002	3894	389.8	-12.0	284	2723	0.00	2.53	0.00	0.000	260	0.000	0.131	2183	3618	3947	4002	3893	0	0	0	0	0	0	28.83	14.52	28.83
2807	-0.81	-145.9	2182	3618	4003	3891	401.4	-13.0	302	2817	0.00	2.42	0.00	0.000	1030	0.000	0.093	2183	2197	3947	4002	3893	0	0	0	0	0	0	28.83	14.54	28.83
3141	-0.81	-145.9	2182	2198	4003	3894	442.1	-12.3	318	3150	0.00	2.53	0.00	0.000	260	0.000	0.131	2172	3616	3947	4002	3893	0	0	0	0	0	0	28.83	14.52	28.83
3254	-0.81	-145.9	2172	3617	4003	3892	457.2	-13.5	340	3263	0.15	2.40	0.00	0.000	3078	0.318	0.090	2202	2201	3947	4002	3892	0	0	0	0	0	0	14.44	14.55	28.83
3567	-0.84	-145.9	2202	2202	4003	3893	491.8	-11.0	352	3575	0.00	2.50	0.00	0.000	260	0.000	0.129	2193	3611	3947	4002	3892	0	0	0	0	0	0	28.83	14.54	28.83
3638	end dive: TARGET_DEPTH_EXCEEDED
state	3638	begin apogee
3642	-0.16	0.0	2194	2794	4002	3892	500.6	-12.5	366	3784	0.85	0.00	132.23	2.097	10246	0.283	0.000	2410	2793	3349	3402	3296	0	0	0	0	1	0	14.44	28.83	12.86
3786	end apogee: CONTROL_FINISHED_OK
state	3786	begin climb
3787	0.87	145.9	2410	2794	3410	3301	504.7	0.0	370	3936	1.12	1.92	132.52	1.695	10500	0.158	0.132	2739	3763	2741	2788	2694	0	0	0	0	0	0	13.73	13.55	12.96
4130	0.76	145.9	2738	3764	2787	2687	463.8	17.6	431	4139	0.10	1.73	0.00	0.000	5126	0.319	0.090	2712	2803	2735	2785	2686	0	0	0	0	0	0	13.93	14.06	28.83
4458	0.71	145.9	2712	2806	2786	2686	416.2	14.3	446	4468	0.00	2.50	0.00	0.000	516	0.000	0.103	2722	1387	2735	2785	2685	0	0	0	0	0	0	28.83	14.24	28.83
4542	0.67	145.9	2723	1388	2784	2685	405.1	13.0	462	4552	0.15	2.55	0.00	0.000	5126	0.311	0.111	2693	2807	2734	2785	2684	0	0	0	0	0	0	14.18	14.27	28.83
4856	0.63	145.9	2692	2807	2786	2685	363.7	13.1	474	4866	0.00	2.47	0.00	0.000	516	0.000	0.099	2701	1394	2734	2785	2684	0	0	0	0	0	0	28.83	14.38	28.83
4960	0.61	145.9	2701	1395	2786	2684	350.7	12.1	494	4970	0.15	2.50	0.00	0.000	5126	0.304	0.111	2671	2799	2734	2785	2684	0	0	0	0	0	0	14.29	14.38	28.83
5284	0.62	152.2	2671	2800	2786	2685	312.3	11.6	508	5292	0.00	2.45	0.00	0.000	516	0.000	0.100	2680	1387	2734	2785	2684	0	0	0	0	0	0	28.83	14.46	28.83
5371	0.64	167.6	2681	1390	2785	2684	302.8	11.1	525	5399	0.00	2.50	18.70	1.437	9222	0.000	0.112	2681	2799	2654	2711	2598	0	0	0	0	0	0	28.83	14.45	13.75
5713	0.64	167.6	2682	2800	2706	2587	260.3	12.4	542	5722	0.00	2.45	0.00	0.000	516	0.000	0.100	2691	1394	2646	2706	2586	0	0	0	0	0	0	28.83	14.42	28.83
5851	0.65	175.3	2692	1395	2706	2586	244.1	11.5	569	5861	0.00	2.53	1.62	0.232	9222	0.000	0.112	2690	2807	2633	2694	2572	0	0	0	0	0	0	28.83	14.44	14.39
6157	0.63	181.9	2690	2808	2706	2584	206.5	11.5	600	6178	0.00	2.50	11.38	1.276	8708	0.000	0.102	2700	1389	2598	2660	2536	0	0	0	0	0	0	28.83	14.36	13.84
6293	0.65	200.6	2702	1389	2657	2530	191.5	10.9	626	6315	0.00	2.53	16.95	1.297	9222	0.000	0.112	2700	2802	2530	2594	2466	0	0	0	0	0	0	28.83	14.42	13.76
6620	0.69	228.8	2700	2803	2583	2446	154.8	10.4	660	6655	0.00	2.55	25.05	1.291	8708	0.000	0.101	2710	1403	2402	2471	2333	0	0	0	0	0	0	28.83	14.21	13.71
6714	0.75	278.9	2711	1403	2465	2323	145.7	9.2	677	6770	0.00	2.53	45.00	1.286	9222	0.000	0.112	2710	2797	2197	2273	2121	0	0	0	0	0	0	28.83	14.24	13.54
7074	0.77	298.1	2710	2801	2267	2104	105.4	10.9	716	7097	0.00	2.60	15.38	1.210	8708	0.000	0.103	2720	1386	2122	2207	2038	0	0	0	0	0	0	28.83	14.19	13.71
7321	0.85	334.9	2721	1388	2199	2024	80.0	9.9	764	7344	0.00	2.55	16.92	0.379	9222	0.000	0.112	2720	2804	1983	2074	1892	0	0	0	0	0	0	28.83	14.29	14.12
7648	0.93	380.7	2720	2804	2092	1918	45.4	9.4	798	7685	0.12	2.50	25.67	0.298	10756	0.170	0.103	2774	1396	1799	1887	1712	0	0	0	0	0	0	14.38	14.31	14.21
7774	0.97	408.8	2776	1396	1901	1721	31.7	10.4	821	7798	0.00	2.53	16.67	0.263	9222	0.000	0.113	2775	2799	1680	1773	1587	0	0	0	0	0	0	28.83	14.28	14.23
8092	1.27	617.3	2774	2800	1787	1605	14.7	0.5	854	8215	0.30	2.55	110.18	0.216	10756	0.129	0.103	2889	1399	830	914	746	0	0	0	0	0	0	14.38	14.26	14.21
8224	1.43	723.9	2889	1399	918	747	9.5	6.1	874	8280	0.12	2.53	43.72	0.202	11270	0.173	0.110	2930	2801	496	542	451	0	0	0	0	0	0	14.26	14.25	14.19
8303	end climb: SURFACE_DEPTH_REACHED
state	8303	begin surface coast
8313	end surface coast: CONTROL_FINISHED_OK
state	8313	begin surface