Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 29 * 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 29 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 41 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 -4710.5508 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 -4710.5508

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 41 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 29 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 300714,061838,7104.762,-14419.965,14,0.8,34,22.4 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 1.41 MHEAD_RNG_PITCHd_Wd 335.7,58246,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -75.7 D_GRID 1000

GPS2 300714,062905,7104.705,-14419.883,6,0.7,26,22.4

Post-dive calculations and measurements:

FINISH 0.2,1.018943 _10V_AH 13.30,0.000

SM_CCo 8602,10.65,0.203,0,0,540,681.44 FG_AHR_24Vo 0.000

SM_GC 2.08,9.43,1.85,10.65,0.068,0.061,0.203,207,2706,540,-8.40,1.47,681.44,0,0,0,0,0,0,14.33,14.36,14.24 FG_AHR_10Vo 0.000

RAFOS_CLK 152 MEM 302316

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23379,709

IRIDIUM_FIX 7026.32,-14419.28,300714,035029 CAP_FILE_SIZE 123779,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2085945344

HUMID 47.79 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.6214 INTR 0,9093.36,0x2378b6,7,5

TCM_TEMP 13.50 SOUNDSPEED 1449.0

XPDR_PINGS 5 EKF 8683,4265.847656,-8659.707031,0.238172,-0.022504,-0.251221,-0.012184,0.000153,0.001458,0.000095,0.001525,0.001525,0.000034

SC_FREEKB 3925152 CURRENT 0.037,96.72,1

TM_FREEKB 7587288 GPS 300714,085402,7105.826,-14419.214,17,0.8,37,22.4

_24V_AH 13.03,10.642

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 399 127.87 nil 0 0 0.00

Roll_motor 51 133 90.66 nil 0 0 0.00

VBD_pump_during_apogee 526 1760 12069.06 nil 0 0 0.00

VBD_pump_during_surface 10 203 28.24 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 8593 15 1707.61

Iridium_during_xfer 393 182 933.35 TMICL 8647 13 1470.91

Transponder_ping 2 420 15.05 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.65

TT8 0 0 0.00

LPSleep 6357 2 195.32

TT8_Active 677 9 85.33

TT8_Sampling 2125 28 818.21

TT8_CF8 77 35 37.02

TT8_Kalman 0 0 0.00

Analog_circuits 1709 10 227.35

GPS_charging 0 0 0.00

Compass 1056 0 10.54

RAFOS 1482 48 946.11

Transponder 13 30 5.45

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 19 begin dive

20 -0.70 -145.9 183 2702 454 528 0.0 0.0 0 96 0.00 0.00 -72.70 0.000 16386 0.000 0.000 182 2701 2460 2467 2453 0 0 0 0 0 0 28.83 28.83 28.83

98 -0.70 -145.9 181 2702 2468 2463 4.9 -7.1 7 140 12.15 2.00 -23.15 0.000 19204 0.399 0.134 2668 3787 3914 3974 3855 0 0 0 0 0 0 14.11 14.24 14.44

294 -0.53 -145.9 2669 3788 3975 3859 62.1 -23.6 44 304 0.28 1.80 0.00 0.000 3078 0.285 0.057 2729 2690 3917 3974 3860 0 0 0 0 0 0 14.19 14.35 28.83

599 -0.53 -145.9 2730 2693 3975 3861 109.7 -13.9 75 607 0.00 1.98 0.00 0.000 260 0.000 0.108 2723 3782 3917 3974 3861 0 0 0 0 0 0 28.83 14.37 28.83

666 -0.53 -145.9 2723 3782 3976 3861 119.7 -15.3 88 675 0.00 1.80 0.00 0.000 1030 0.000 0.058 2723 2703 3917 3974 3861 0 0 0 0 0 0 28.83 14.42 28.83

971 -0.59 -145.9 2724 2704 3975 3862 160.5 -12.3 119 974 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2703 3917 3974 3861 0 0 0 0 0 0 28.83 28.83 28.83

1271 -0.68 -145.9 2724 2704 3975 3862 194.6 -10.3 149 1274 0.12 0.00 0.00 0.000 4102 0.142 0.000 2673 2703 3916 3974 3858 0 0 0 0 0 0 14.49 28.83 28.83

1571 -0.68 -145.9 2673 2704 3975 3862 232.8 -12.8 179 1574 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2703 3917 3974 3861 0 0 0 0 0 0 28.83 28.83 28.83

1891 -0.68 -145.9 2674 2704 3973 3861 272.9 -12.4 199 1893 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2703 3917 3973 3861 0 0 0 0 0 0 28.83 28.83 28.83

2191 -0.68 -145.9 2674 2704 3973 3861 309.3 -11.9 209 2200 0.00 1.90 0.00 0.000 260 0.000 0.109 2665 3786 3915 3970 3861 0 0 0 0 0 0 28.83 14.48 28.83

2249 -0.68 -145.9 2665 3787 3971 3862 317.0 -13.0 220 2259 0.00 1.80 0.00 0.000 1030 0.000 0.061 2664 2708 3915 3970 3861 0 0 0 0 0 0 28.83 14.55 28.83

2555 -0.68 -145.9 2665 2708 3970 3862 354.8 -12.3 231 2557 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2708 3915 3970 3860 0 0 0 0 0 0 28.83 28.83 28.83

2854 -0.68 -145.9 2665 2709 3970 3863 391.0 -11.9 241 2864 0.00 1.90 0.00 0.000 260 0.000 0.109 2655 3792 3914 3969 3860 0 0 0 0 0 0 28.83 14.53 28.83

2907 -0.68 -145.9 2656 3793 3969 3861 398.2 -13.9 251 2915 0.10 1.83 0.00 0.000 3078 0.256 0.060 2679 2699 3914 3968 3860 0 0 0 0 0 0 14.44 14.57 28.83

3220 -0.74 -145.9 2682 2700 3969 3861 432.1 -10.7 263 3222 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2699 3914 3968 3860 0 0 0 0 0 0 28.83 28.83 28.83

3520 -0.81 -145.9 2682 2700 3969 3861 463.6 -10.4 273 3529 0.00 1.90 0.00 0.000 260 0.000 0.110 2675 3786 3914 3968 3860 0 0 0 0 0 0 28.83 14.54 28.83

3583 -0.81 -145.9 2675 3786 3969 3860 471.0 -11.9 285 3593 0.00 1.80 0.00 0.000 1030 0.000 0.061 2675 2703 3913 3968 3859 0 0 0 0 0 0 28.83 14.59 28.83

3857 end dive: TARGET_DEPTH_EXCEEDED

state 3857 begin apogee

3860 -0.13 0.0 2675 2846 3969 3860 500.5 -10.7 299 3987 0.70 0.00 122.25 1.760 10246 0.238 0.000 2859 2845 3316 3336 3296 0 0 0 0 0 0 14.45 28.83 13.15

3989 end apogee: CONTROL_FINISHED_OK

state 3989 begin climb

3990 0.70 145.9 2860 2845 3333 3290 503.5 0.0 303 4121 0.93 0.00 120.72 1.609 10246 0.144 0.000 3129 2845 2719 2727 2712 0 0 0 0 0 0 13.83 28.83 13.03

4397 0.62 145.9 3130 2846 2725 2704 457.6 13.7 317 4399 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2845 2713 2724 2702 0 0 0 0 0 0 28.83 28.83 28.83

4697 0.55 145.9 3130 2845 2725 2701 417.0 13.4 327 4705 0.15 2.40 0.00 0.000 4612 0.279 0.070 3104 1449 2712 2724 2701 0 0 0 0 0 0 14.18 14.31 28.83

4734 0.56 155.6 3105 1448 2725 2701 412.5 11.4 334 4753 0.00 2.47 8.88 1.531 9222 0.000 0.099 3104 2838 2677 2689 2666 0 0 0 0 0 0 28.83 14.31 13.64

5062 0.56 155.6 3105 2838 2690 2663 372.7 12.1 349 5072 0.00 2.38 0.00 0.000 516 0.000 0.072 3112 1448 2676 2689 2663 0 0 0 0 0 0 28.83 14.37 28.83

5096 0.56 155.6 3113 1448 2690 2663 368.8 12.0 355 5104 0.00 2.47 0.00 0.000 1030 0.000 0.099 3112 2842 2676 2689 2663 0 0 0 0 0 0 28.83 14.36 28.83

5428 0.56 155.6 3113 2843 2690 2663 327.0 12.7 371 5430 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2842 2672 2682 2663 0 0 0 0 0 0 28.83 28.83 28.83

5728 0.56 155.6 3113 2843 2690 2663 289.3 12.7 381 5737 0.00 2.38 0.00 0.000 516 0.000 0.070 3121 1440 2675 2689 2662 0 0 0 0 0 0 28.83 14.41 28.83

5786 0.56 165.6 3122 1440 2690 2663 282.5 11.4 392 5803 0.00 2.50 9.45 1.454 9222 0.000 0.098 3121 2848 2637 2649 2626 0 0 0 0 0 0 28.83 14.39 13.76

6107 0.56 165.6 3119 2848 2650 2624 242.0 12.1 411 6111 0.12 0.00 0.00 0.000 4102 0.272 0.000 3094 2848 2637 2649 2625 0 0 0 0 0 0 14.24 28.83 28.83

6407 0.58 191.4 3097 2849 2650 2625 209.5 10.5 441 6437 0.00 2.50 21.90 1.473 8708 0.000 0.073 3105 1449 2532 2543 2522 0 0 0 0 0 0 28.83 14.20 13.62

6506 0.68 224.7 3106 1449 2543 2521 199.3 10.1 459 6542 0.00 2.47 28.92 1.408 9222 0.000 0.098 3105 2836 2400 2405 2395 0 0 0 0 0 0 28.83 14.23 13.52

6846 0.76 256.9 3106 2837 2401 2384 162.0 10.2 495 6881 0.15 0.00 27.55 1.347 10758 0.125 0.000 3165 2836 2262 2265 2259 0 0 0 0 0 0 14.27 28.83 13.55

7176 0.76 256.9 3166 2837 2266 2254 120.2 12.3 530 7184 0.00 2.42 0.00 0.000 516 0.000 0.073 3174 1440 2259 2266 2252 0 0 0 0 0 0 28.83 14.29 28.83

7268 0.79 292.1 3175 1441 2266 2253 110.1 10.0 548 7303 0.00 2.50 26.98 1.270 9222 0.000 0.099 3174 2841 2121 2123 2120 0 0 0 0 0 0 28.83 14.31 13.62

7607 0.79 299.2 3175 2840 2122 2110 68.6 11.5 584 7612 0.00 0.00 2.08 0.356 8198 0.000 0.000 3174 2841 2096 2101 2091 0 0 0 0 0 0 28.83 28.83 14.12

7907 0.91 393.6 3175 2842 2118 2092 40.8 6.8 614 7962 0.00 2.45 42.15 0.308 8708 0.000 0.076 3178 1453 1710 1707 1714 0 0 0 0 0 0 28.83 14.28 14.18

8056 1.10 456.8 3178 1454 1704 1708 28.7 8.5 641 8095 0.28 2.47 28.05 0.282 11270 0.096 0.099 3280 2839 1451 1446 1457 0 0 0 0 0 0 14.35 14.30 14.17

8389 1.32 656.5 3281 2841 1451 1442 12.8 1.0 676 8485 0.17 1.75 87.28 0.231 10500 0.121 0.109 3345 3786 637 618 657 0 0 0 0 0 0 14.38 14.24 14.19

8559 end climb: SURFACE_DEPTH_REACHED

state 8559 begin surface coast

8579 end surface coast: CONTROL_FINISHED_OK

state 8579 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	29	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	41	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	-4710.5508	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	300714,061838,7104.762,-14419.965,14,0.8,34,22.4	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	1.41	MHEAD_RNG_PITCHd_Wd	335.7,58246,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-75.7	D_GRID	1000
GPS2	300714,062905,7104.705,-14419.883,6,0.7,26,22.4

FINISH	0.2,1.018943	_10V_AH	13.30,0.000
SM_CCo	8602,10.65,0.203,0,0,540,681.44	FG_AHR_24Vo	0.000
SM_GC	2.08,9.43,1.85,10.65,0.068,0.061,0.203,207,2706,540,-8.40,1.47,681.44,0,0,0,0,0,0,14.33,14.36,14.24	FG_AHR_10Vo	0.000
RAFOS_CLK	152	MEM	302316
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23379,709
IRIDIUM_FIX	7026.32,-14419.28,300714,035029	CAP_FILE_SIZE	123779,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2085945344
HUMID	47.79	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.6214	INTR	0,9093.36,0x2378b6,7,5
TCM_TEMP	13.50	SOUNDSPEED	1449.0
XPDR_PINGS	5	EKF	8683,4265.847656,-8659.707031,0.238172,-0.022504,-0.251221,-0.012184,0.000153,0.001458,0.000095,0.001525,0.001525,0.000034
SC_FREEKB	3925152	CURRENT	0.037,96.72,1
TM_FREEKB	7587288	GPS	300714,085402,7105.826,-14419.214,17,0.8,37,22.4
_24V_AH	13.03,10.642

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	399	127.87	nil	0	0	0.00
Roll_motor	51	133	90.66	nil	0	0	0.00
VBD_pump_during_apogee	526	1760	12069.06	nil	0	0	0.00
VBD_pump_during_surface	10	203	28.24	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	8593	15	1707.61
Iridium_during_xfer	393	182	933.35	TMICL	8647	13	1470.91
Transponder_ping	2	420	15.05	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.65
TT8	0	0	0.00
LPSleep	6357	2	195.32
TT8_Active	677	9	85.33
TT8_Sampling	2125	28	818.21
TT8_CF8	77	35	37.02
TT8_Kalman	0	0	0.00
Analog_circuits	1709	10	227.35
GPS_charging	0	0	0.00
Compass	1056	0	10.54
RAFOS	1482	48	946.11
Transponder	13	30	5.45

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	19	begin dive
20	-0.70	-145.9	183	2702	454	528	0.0	0.0	0	96	0.00	0.00	-72.70	0.000	16386	0.000	0.000	182	2701	2460	2467	2453	0	0	0	0	0	0	28.83	28.83	28.83
98	-0.70	-145.9	181	2702	2468	2463	4.9	-7.1	7	140	12.15	2.00	-23.15	0.000	19204	0.399	0.134	2668	3787	3914	3974	3855	0	0	0	0	0	0	14.11	14.24	14.44
294	-0.53	-145.9	2669	3788	3975	3859	62.1	-23.6	44	304	0.28	1.80	0.00	0.000	3078	0.285	0.057	2729	2690	3917	3974	3860	0	0	0	0	0	0	14.19	14.35	28.83
599	-0.53	-145.9	2730	2693	3975	3861	109.7	-13.9	75	607	0.00	1.98	0.00	0.000	260	0.000	0.108	2723	3782	3917	3974	3861	0	0	0	0	0	0	28.83	14.37	28.83
666	-0.53	-145.9	2723	3782	3976	3861	119.7	-15.3	88	675	0.00	1.80	0.00	0.000	1030	0.000	0.058	2723	2703	3917	3974	3861	0	0	0	0	0	0	28.83	14.42	28.83
971	-0.59	-145.9	2724	2704	3975	3862	160.5	-12.3	119	974	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2703	3917	3974	3861	0	0	0	0	0	0	28.83	28.83	28.83
1271	-0.68	-145.9	2724	2704	3975	3862	194.6	-10.3	149	1274	0.12	0.00	0.00	0.000	4102	0.142	0.000	2673	2703	3916	3974	3858	0	0	0	0	0	0	14.49	28.83	28.83
1571	-0.68	-145.9	2673	2704	3975	3862	232.8	-12.8	179	1574	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2703	3917	3974	3861	0	0	0	0	0	0	28.83	28.83	28.83
1891	-0.68	-145.9	2674	2704	3973	3861	272.9	-12.4	199	1893	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2703	3917	3973	3861	0	0	0	0	0	0	28.83	28.83	28.83
2191	-0.68	-145.9	2674	2704	3973	3861	309.3	-11.9	209	2200	0.00	1.90	0.00	0.000	260	0.000	0.109	2665	3786	3915	3970	3861	0	0	0	0	0	0	28.83	14.48	28.83
2249	-0.68	-145.9	2665	3787	3971	3862	317.0	-13.0	220	2259	0.00	1.80	0.00	0.000	1030	0.000	0.061	2664	2708	3915	3970	3861	0	0	0	0	0	0	28.83	14.55	28.83
2555	-0.68	-145.9	2665	2708	3970	3862	354.8	-12.3	231	2557	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2708	3915	3970	3860	0	0	0	0	0	0	28.83	28.83	28.83
2854	-0.68	-145.9	2665	2709	3970	3863	391.0	-11.9	241	2864	0.00	1.90	0.00	0.000	260	0.000	0.109	2655	3792	3914	3969	3860	0	0	0	0	0	0	28.83	14.53	28.83
2907	-0.68	-145.9	2656	3793	3969	3861	398.2	-13.9	251	2915	0.10	1.83	0.00	0.000	3078	0.256	0.060	2679	2699	3914	3968	3860	0	0	0	0	0	0	14.44	14.57	28.83
3220	-0.74	-145.9	2682	2700	3969	3861	432.1	-10.7	263	3222	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2699	3914	3968	3860	0	0	0	0	0	0	28.83	28.83	28.83
3520	-0.81	-145.9	2682	2700	3969	3861	463.6	-10.4	273	3529	0.00	1.90	0.00	0.000	260	0.000	0.110	2675	3786	3914	3968	3860	0	0	0	0	0	0	28.83	14.54	28.83
3583	-0.81	-145.9	2675	3786	3969	3860	471.0	-11.9	285	3593	0.00	1.80	0.00	0.000	1030	0.000	0.061	2675	2703	3913	3968	3859	0	0	0	0	0	0	28.83	14.59	28.83
3857	end dive: TARGET_DEPTH_EXCEEDED
state	3857	begin apogee
3860	-0.13	0.0	2675	2846	3969	3860	500.5	-10.7	299	3987	0.70	0.00	122.25	1.760	10246	0.238	0.000	2859	2845	3316	3336	3296	0	0	0	0	0	0	14.45	28.83	13.15
3989	end apogee: CONTROL_FINISHED_OK
state	3989	begin climb
3990	0.70	145.9	2860	2845	3333	3290	503.5	0.0	303	4121	0.93	0.00	120.72	1.609	10246	0.144	0.000	3129	2845	2719	2727	2712	0	0	0	0	0	0	13.83	28.83	13.03
4397	0.62	145.9	3130	2846	2725	2704	457.6	13.7	317	4399	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	2845	2713	2724	2702	0	0	0	0	0	0	28.83	28.83	28.83
4697	0.55	145.9	3130	2845	2725	2701	417.0	13.4	327	4705	0.15	2.40	0.00	0.000	4612	0.279	0.070	3104	1449	2712	2724	2701	0	0	0	0	0	0	14.18	14.31	28.83
4734	0.56	155.6	3105	1448	2725	2701	412.5	11.4	334	4753	0.00	2.47	8.88	1.531	9222	0.000	0.099	3104	2838	2677	2689	2666	0	0	0	0	0	0	28.83	14.31	13.64
5062	0.56	155.6	3105	2838	2690	2663	372.7	12.1	349	5072	0.00	2.38	0.00	0.000	516	0.000	0.072	3112	1448	2676	2689	2663	0	0	0	0	0	0	28.83	14.37	28.83
5096	0.56	155.6	3113	1448	2690	2663	368.8	12.0	355	5104	0.00	2.47	0.00	0.000	1030	0.000	0.099	3112	2842	2676	2689	2663	0	0	0	0	0	0	28.83	14.36	28.83
5428	0.56	155.6	3113	2843	2690	2663	327.0	12.7	371	5430	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2842	2672	2682	2663	0	0	0	0	0	0	28.83	28.83	28.83
5728	0.56	155.6	3113	2843	2690	2663	289.3	12.7	381	5737	0.00	2.38	0.00	0.000	516	0.000	0.070	3121	1440	2675	2689	2662	0	0	0	0	0	0	28.83	14.41	28.83
5786	0.56	165.6	3122	1440	2690	2663	282.5	11.4	392	5803	0.00	2.50	9.45	1.454	9222	0.000	0.098	3121	2848	2637	2649	2626	0	0	0	0	0	0	28.83	14.39	13.76
6107	0.56	165.6	3119	2848	2650	2624	242.0	12.1	411	6111	0.12	0.00	0.00	0.000	4102	0.272	0.000	3094	2848	2637	2649	2625	0	0	0	0	0	0	14.24	28.83	28.83
6407	0.58	191.4	3097	2849	2650	2625	209.5	10.5	441	6437	0.00	2.50	21.90	1.473	8708	0.000	0.073	3105	1449	2532	2543	2522	0	0	0	0	0	0	28.83	14.20	13.62
6506	0.68	224.7	3106	1449	2543	2521	199.3	10.1	459	6542	0.00	2.47	28.92	1.408	9222	0.000	0.098	3105	2836	2400	2405	2395	0	0	0	0	0	0	28.83	14.23	13.52
6846	0.76	256.9	3106	2837	2401	2384	162.0	10.2	495	6881	0.15	0.00	27.55	1.347	10758	0.125	0.000	3165	2836	2262	2265	2259	0	0	0	0	0	0	14.27	28.83	13.55
7176	0.76	256.9	3166	2837	2266	2254	120.2	12.3	530	7184	0.00	2.42	0.00	0.000	516	0.000	0.073	3174	1440	2259	2266	2252	0	0	0	0	0	0	28.83	14.29	28.83
7268	0.79	292.1	3175	1441	2266	2253	110.1	10.0	548	7303	0.00	2.50	26.98	1.270	9222	0.000	0.099	3174	2841	2121	2123	2120	0	0	0	0	0	0	28.83	14.31	13.62
7607	0.79	299.2	3175	2840	2122	2110	68.6	11.5	584	7612	0.00	0.00	2.08	0.356	8198	0.000	0.000	3174	2841	2096	2101	2091	0	0	0	0	0	0	28.83	28.83	14.12
7907	0.91	393.6	3175	2842	2118	2092	40.8	6.8	614	7962	0.00	2.45	42.15	0.308	8708	0.000	0.076	3178	1453	1710	1707	1714	0	0	0	0	0	0	28.83	14.28	14.18
8056	1.10	456.8	3178	1454	1704	1708	28.7	8.5	641	8095	0.28	2.47	28.05	0.282	11270	0.096	0.099	3280	2839	1451	1446	1457	0	0	0	0	0	0	14.35	14.30	14.17
8389	1.32	656.5	3281	2841	1451	1442	12.8	1.0	676	8485	0.17	1.75	87.28	0.231	10500	0.121	0.109	3345	3786	637	618	657	0	0	0	0	0	0	14.38	14.24	14.19
8559	end climb: SURFACE_DEPTH_REACHED
state	8559	begin surface coast
8579	end surface coast: CONTROL_FINISHED_OK
state	8579	begin surface