Glider dive log

MIZ Jul14 * SG197 * Dive index * Mission links * Dive 29 * 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 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 32 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 23 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 -6973.6602 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 -6973.6602

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 32 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 23 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 29 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 290714,233215,7100.742,-14443.542,9,3.2,29,28.3 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 1.87 MHEAD_RNG_PITCHd_Wd 302.5,75989,-22.3,-11.905,-26.01,1887

_SM_ANGLEo -73.2 D_GRID 1000

GPS2 290714,234255,7100.755,-14443.445,25,1.1,45,28.3

Post-dive calculations and measurements:

FINISH 1.2,1.019062 _10V_AH 12.84,0.000

SM_CCo 8638,18.27,0.188,0,0,538,675.07 FG_AHR_24Vo 0.000

SM_GC 1.83,8.18,2.85,18.27,0.088,0.109,0.188,180,2553,538,-7.18,-0.54,675.07,0,0,0,0,0,0,14.52,14.50,14.45 FG_AHR_10Vo 0.000

RAFOS_CLK 723411 MEM 302272

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23390,664

IRIDIUM_FIX 7026.32,-14436.17,290714,205933 CAP_FILE_SIZE 119781,0

TT8_MAMPS 0.041944,0.041944 CFSIZE 1047117824,1037828096

HUMID 46.37 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.64952 INTR 1,3724.97,0x234484,2,24

TCM_TEMP 12.70 SOUNDSPEED 1449.0

XPDR_PINGS 0 EKF 8680,4261.745117,-8685.165039,1.182690,0.025865,0.023842,0.011653,0.000156,0.001472,0.000095,0.000025,0.000025,0.000034

SC_FREEKB 3925184 CURRENT 0.017,264.98,1

TM_FREEKB 7623544 GPS 300714,020750,7101.739,-14445.401,66,1.2,86,28.3

_24V_AH 13.31,17.907

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 468 140.13 nil 0 0 0.00

Roll_motor 48 122 78.48 nil 0 0 0.00

VBD_pump_during_apogee 519 1482 10260.67 nil 0 0 0.00

VBD_pump_during_surface 18 188 45.78 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 8638 15 1800.57

Iridium_during_xfer 385 190 976.87 TMICL 8690 13 1548.97

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 47 20 12.82

TT8 0 0 0.00

LPSleep 6382 2 189.30

TT8_Active 679 11 102.21

TT8_Sampling 2054 30 803.43

TT8_CF8 80 43 45.13

TT8_Kalman 0 0 0.00

Analog_circuits 1670 10 214.54

GPS_charging 0 0 0.00

Compass 991 5 63.67

RAFOS 1440 48 887.50

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

17 -0.80 -145.9 167 2559 466 621 0.0 0.0 0 83 0.00 0.00 -62.88 0.000 16386 0.000 0.000 165 2558 2105 2105 2105 0 0 0 0 0 0 28.83 28.83 28.83

85 -0.80 -145.9 165 2559 2106 2106 3.0 -2.8 6 140 11.12 2.47 -34.17 0.000 18948 0.469 0.111 2227 1144 3886 3862 3911 0 0 0 0 0 0 14.23 14.42 14.65

330 -0.70 -145.9 2228 1142 3862 3917 60.8 -19.3 52 338 0.20 2.53 0.00 0.000 3078 0.326 0.110 2260 2554 3889 3862 3916 0 0 0 0 0 0 14.35 14.46 28.83

642 -0.70 -145.9 2260 2556 3863 3915 113.9 -15.7 84 650 0.00 2.05 0.00 0.000 260 0.000 0.122 2259 3712 3889 3862 3917 0 0 0 0 0 0 28.83 14.56 28.83

665 -0.68 -145.9 2254 3713 3866 3918 117.7 -16.5 88 672 0.00 1.92 0.00 0.000 1030 0.000 0.069 2253 2544 3890 3863 3918 0 0 0 0 0 0 28.83 14.59 28.83

976 -0.68 -145.9 2254 2546 3862 3918 165.1 -13.6 120 984 0.00 2.38 0.00 0.000 516 0.000 0.088 2254 1148 3889 3861 3917 0 0 0 0 0 0 28.83 14.62 28.83

1121 -0.71 -145.9 2254 1147 3861 3917 171.2 -2.5 127 1132 0.00 2.50 0.00 0.000 1030 0.000 0.114 2244 2549 3889 3862 3917 0 0 0 0 0 0 28.83 14.59 28.83

1426 -0.75 -145.9 2245 2550 3861 3924 211.1 -12.3 158 1434 0.00 2.05 0.00 0.000 260 0.000 0.122 2235 3711 3888 3860 3917 0 0 0 0 0 0 28.83 14.54 28.83

1492 -0.75 -145.9 2236 3711 3860 3917 220.1 -13.9 171 1504 0.00 1.92 0.00 0.000 1030 0.000 0.070 2235 2553 3888 3860 3917 0 0 0 0 0 0 28.83 14.60 28.83

1798 -0.78 -145.9 2236 2554 3860 3918 257.6 -12.1 198 1806 0.00 2.42 0.00 0.000 516 0.000 0.091 2236 1147 3888 3859 3917 0 0 0 0 0 0 28.83 14.54 28.83

1855 -0.83 -145.9 2236 1146 3859 3917 264.6 -12.7 209 1864 0.00 2.53 0.00 0.000 1030 0.000 0.116 2229 2552 3888 3859 3917 0 0 0 0 0 0 28.83 14.54 28.83

2161 -0.86 -145.9 2229 2556 3859 3918 301.9 -12.1 220 2163 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2555 3887 3858 3917 0 0 0 0 0 0 28.83 28.83 28.83

2460 -0.89 -145.9 2229 2556 3858 3918 338.0 -12.0 230 2468 0.00 2.42 0.00 0.000 516 0.000 0.090 2229 1147 3887 3857 3917 0 0 0 0 0 0 28.83 14.58 28.83

2507 -0.94 -145.9 2230 1146 3858 3918 343.6 -11.4 239 2517 0.00 2.53 0.00 0.000 1030 0.000 0.114 2222 2556 3887 3857 3917 0 0 0 0 0 0 28.83 14.57 28.83

2827 -0.97 -145.9 2222 2557 3857 3918 382.7 -12.3 252 2830 0.15 0.00 0.00 0.000 4102 0.145 0.000 2165 2557 3885 3857 3913 0 0 0 0 0 0 14.68 28.83 28.83

3127 -0.91 -145.9 2166 2557 3856 3918 428.2 -15.3 262 3135 0.12 2.42 0.00 0.000 2564 0.324 0.087 2188 1147 3886 3856 3917 0 0 0 0 0 0 14.59 14.68 28.83

3183 -0.91 -145.9 2192 1146 3857 3917 436.2 -13.5 273 3193 0.00 2.50 0.00 0.000 1030 0.000 0.115 2190 2552 3888 3856 3921 0 0 0 0 0 0 28.83 14.67 28.83

3489 -0.88 -145.9 2185 2553 3856 3917 478.7 -13.8 284 3492 0.00 0.00 0.00 0.000 6 0.000 0.000 2186 2552 3886 3856 3916 0 0 0 0 0 0 28.83 28.83 28.83

3668 end dive: TARGET_DEPTH_EXCEEDED

state 3668 begin apogee

3671 -0.16 0.0 2186 2399 3855 3917 503.7 -13.8 290 3798 0.95 0.00 122.32 1.483 10246 0.280 0.000 2433 2398 3291 3246 3337 0 0 0 0 0 0 14.59 28.83 13.45

3800 end apogee: CONTROL_FINISHED_OK

state 3801 begin climb

3802 0.80 145.9 2433 2399 3237 3330 507.4 0.0 294 3933 1.02 0.00 121.70 1.463 10758 0.154 0.000 2745 2398 2695 2624 2767 0 0 0 0 0 0 14.04 28.83 13.31

4209 0.72 145.9 2745 2399 2604 2754 464.4 13.2 313 4211 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2398 2678 2603 2754 0 0 0 0 0 0 28.83 28.83 28.83

4509 0.64 145.9 2746 2402 2604 2753 425.4 12.9 323 4519 0.20 2.45 0.00 0.000 4612 0.302 0.094 2704 996 2678 2605 2752 0 0 0 0 0 0 14.40 14.47 28.83

4553 0.68 163.1 2705 995 2603 2753 420.6 11.0 331 4574 0.00 2.50 13.90 1.330 9222 0.000 0.103 2704 2402 2623 2545 2701 0 0 0 0 0 0 28.83 14.50 13.84

4878 0.68 175.0 2704 2402 2533 2695 383.7 11.3 345 4892 0.00 0.00 10.60 1.255 8198 0.000 0.000 2708 2402 2578 2496 2660 0 0 0 0 0 0 28.83 28.83 13.92

5179 0.69 180.0 2705 2402 2484 2649 349.0 11.6 355 5181 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2402 2566 2483 2649 0 0 0 0 0 0 28.83 28.83 28.83

5478 0.69 185.6 2705 2407 2484 2650 314.2 11.6 365 5485 0.00 0.00 4.00 0.988 8198 0.000 0.000 2708 2401 2534 2452 2616 0 0 0 0 0 0 28.83 28.83 13.93

5779 0.70 196.4 2704 2402 2470 2636 279.5 11.3 375 5799 0.00 0.00 16.45 1.229 8198 0.000 0.000 2704 2402 2491 2410 2573 0 0 0 0 0 0 28.83 28.83 14.04

6079 0.70 204.4 2704 2402 2398 2558 244.8 11.5 387 6089 0.00 2.53 2.12 0.368 8708 0.000 0.094 2704 992 2459 2380 2539 0 0 0 0 0 0 28.83 14.61 13.81

6133 0.76 210.8 2704 992 2392 2549 238.6 11.6 397 6155 0.00 2.47 11.98 1.250 9222 0.000 0.103 2704 2401 2423 2343 2503 0 0 0 0 0 0 28.83 14.61 14.03

6460 0.82 237.4 2704 2401 2339 2500 201.3 10.5 431 6487 0.15 0.00 23.08 1.151 10246 0.134 0.000 2767 2401 2323 2243 2403 0 0 0 0 0 0 14.63 28.83 13.98

6781 0.78 237.4 2767 2401 2224 2389 157.4 13.1 463 6784 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2400 2305 2223 2388 0 0 0 0 0 0 28.83 28.83 28.83

7081 0.78 265.5 2767 2401 2223 2388 122.3 10.4 493 7114 0.00 0.00 24.12 1.058 8710 0.000 0.000 2767 2400 2197 2110 2284 0 0 0 0 0 0 28.83 28.83 14.03

7411 0.81 301.9 2766 2401 2102 2279 87.9 9.9 527 7435 0.00 0.00 14.85 0.432 8198 0.000 0.000 2767 2401 2058 1967 2150 0 0 0 0 0 0 28.83 28.83 14.31

7731 0.87 340.9 2768 2401 1988 2163 55.5 9.8 559 7756 0.00 0.00 19.62 0.335 8198 0.000 0.000 2767 2400 1900 1802 1998 0 0 0 0 0 0 28.83 28.83 14.37

8051 1.01 420.8 2767 2401 1817 2008 29.0 7.6 591 8095 0.15 0.00 37.38 0.259 10246 0.126 0.000 2827 2400 1574 1469 1680 0 0 0 0 0 0 14.59 28.83 14.44

8391 1.27 636.0 2827 2401 1479 1678 13.9 0.2 625 8502 0.20 2.47 97.85 0.218 11012 0.109 0.093 2921 997 696 580 812 0 0 0 0 0 0 14.58 14.46 14.40

8595 end climb: SURFACE_DEPTH_REACHED

state 8595 begin surface coast

8615 end surface coast: CONTROL_FINISHED_OK

state 8615 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	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	32	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	23	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	-6973.6602	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	290714,233215,7100.742,-14443.542,9,3.2,29,28.3	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	1.87	MHEAD_RNG_PITCHd_Wd	302.5,75989,-22.3,-11.905,-26.01,1887
_SM_ANGLEo	-73.2	D_GRID	1000
GPS2	290714,234255,7100.755,-14443.445,25,1.1,45,28.3

FINISH	1.2,1.019062	_10V_AH	12.84,0.000
SM_CCo	8638,18.27,0.188,0,0,538,675.07	FG_AHR_24Vo	0.000
SM_GC	1.83,8.18,2.85,18.27,0.088,0.109,0.188,180,2553,538,-7.18,-0.54,675.07,0,0,0,0,0,0,14.52,14.50,14.45	FG_AHR_10Vo	0.000
RAFOS_CLK	723411	MEM	302272
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23390,664
IRIDIUM_FIX	7026.32,-14436.17,290714,205933	CAP_FILE_SIZE	119781,0
TT8_MAMPS	0.041944,0.041944	CFSIZE	1047117824,1037828096
HUMID	46.37	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.64952	INTR	1,3724.97,0x234484,2,24
TCM_TEMP	12.70	SOUNDSPEED	1449.0
XPDR_PINGS	0	EKF	8680,4261.745117,-8685.165039,1.182690,0.025865,0.023842,0.011653,0.000156,0.001472,0.000095,0.000025,0.000025,0.000034
SC_FREEKB	3925184	CURRENT	0.017,264.98,1
TM_FREEKB	7623544	GPS	300714,020750,7101.739,-14445.401,66,1.2,86,28.3
_24V_AH	13.31,17.907

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	468	140.13	nil	0	0	0.00
Roll_motor	48	122	78.48	nil	0	0	0.00
VBD_pump_during_apogee	519	1482	10260.67	nil	0	0	0.00
VBD_pump_during_surface	18	188	45.78	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	8638	15	1800.57
Iridium_during_xfer	385	190	976.87	TMICL	8690	13	1548.97
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	47	20	12.82
TT8	0	0	0.00
LPSleep	6382	2	189.30
TT8_Active	679	11	102.21
TT8_Sampling	2054	30	803.43
TT8_CF8	80	43	45.13
TT8_Kalman	0	0	0.00
Analog_circuits	1670	10	214.54
GPS_charging	0	0	0.00
Compass	991	5	63.67
RAFOS	1440	48	887.50
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
17	-0.80	-145.9	167	2559	466	621	0.0	0.0	0	83	0.00	0.00	-62.88	0.000	16386	0.000	0.000	165	2558	2105	2105	2105	0	0	0	0	0	0	28.83	28.83	28.83
85	-0.80	-145.9	165	2559	2106	2106	3.0	-2.8	6	140	11.12	2.47	-34.17	0.000	18948	0.469	0.111	2227	1144	3886	3862	3911	0	0	0	0	0	0	14.23	14.42	14.65
330	-0.70	-145.9	2228	1142	3862	3917	60.8	-19.3	52	338	0.20	2.53	0.00	0.000	3078	0.326	0.110	2260	2554	3889	3862	3916	0	0	0	0	0	0	14.35	14.46	28.83
642	-0.70	-145.9	2260	2556	3863	3915	113.9	-15.7	84	650	0.00	2.05	0.00	0.000	260	0.000	0.122	2259	3712	3889	3862	3917	0	0	0	0	0	0	28.83	14.56	28.83
665	-0.68	-145.9	2254	3713	3866	3918	117.7	-16.5	88	672	0.00	1.92	0.00	0.000	1030	0.000	0.069	2253	2544	3890	3863	3918	0	0	0	0	0	0	28.83	14.59	28.83
976	-0.68	-145.9	2254	2546	3862	3918	165.1	-13.6	120	984	0.00	2.38	0.00	0.000	516	0.000	0.088	2254	1148	3889	3861	3917	0	0	0	0	0	0	28.83	14.62	28.83
1121	-0.71	-145.9	2254	1147	3861	3917	171.2	-2.5	127	1132	0.00	2.50	0.00	0.000	1030	0.000	0.114	2244	2549	3889	3862	3917	0	0	0	0	0	0	28.83	14.59	28.83
1426	-0.75	-145.9	2245	2550	3861	3924	211.1	-12.3	158	1434	0.00	2.05	0.00	0.000	260	0.000	0.122	2235	3711	3888	3860	3917	0	0	0	0	0	0	28.83	14.54	28.83
1492	-0.75	-145.9	2236	3711	3860	3917	220.1	-13.9	171	1504	0.00	1.92	0.00	0.000	1030	0.000	0.070	2235	2553	3888	3860	3917	0	0	0	0	0	0	28.83	14.60	28.83
1798	-0.78	-145.9	2236	2554	3860	3918	257.6	-12.1	198	1806	0.00	2.42	0.00	0.000	516	0.000	0.091	2236	1147	3888	3859	3917	0	0	0	0	0	0	28.83	14.54	28.83
1855	-0.83	-145.9	2236	1146	3859	3917	264.6	-12.7	209	1864	0.00	2.53	0.00	0.000	1030	0.000	0.116	2229	2552	3888	3859	3917	0	0	0	0	0	0	28.83	14.54	28.83
2161	-0.86	-145.9	2229	2556	3859	3918	301.9	-12.1	220	2163	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	2555	3887	3858	3917	0	0	0	0	0	0	28.83	28.83	28.83
2460	-0.89	-145.9	2229	2556	3858	3918	338.0	-12.0	230	2468	0.00	2.42	0.00	0.000	516	0.000	0.090	2229	1147	3887	3857	3917	0	0	0	0	0	0	28.83	14.58	28.83
2507	-0.94	-145.9	2230	1146	3858	3918	343.6	-11.4	239	2517	0.00	2.53	0.00	0.000	1030	0.000	0.114	2222	2556	3887	3857	3917	0	0	0	0	0	0	28.83	14.57	28.83
2827	-0.97	-145.9	2222	2557	3857	3918	382.7	-12.3	252	2830	0.15	0.00	0.00	0.000	4102	0.145	0.000	2165	2557	3885	3857	3913	0	0	0	0	0	0	14.68	28.83	28.83
3127	-0.91	-145.9	2166	2557	3856	3918	428.2	-15.3	262	3135	0.12	2.42	0.00	0.000	2564	0.324	0.087	2188	1147	3886	3856	3917	0	0	0	0	0	0	14.59	14.68	28.83
3183	-0.91	-145.9	2192	1146	3857	3917	436.2	-13.5	273	3193	0.00	2.50	0.00	0.000	1030	0.000	0.115	2190	2552	3888	3856	3921	0	0	0	0	0	0	28.83	14.67	28.83
3489	-0.88	-145.9	2185	2553	3856	3917	478.7	-13.8	284	3492	0.00	0.00	0.00	0.000	6	0.000	0.000	2186	2552	3886	3856	3916	0	0	0	0	0	0	28.83	28.83	28.83
3668	end dive: TARGET_DEPTH_EXCEEDED
state	3668	begin apogee
3671	-0.16	0.0	2186	2399	3855	3917	503.7	-13.8	290	3798	0.95	0.00	122.32	1.483	10246	0.280	0.000	2433	2398	3291	3246	3337	0	0	0	0	0	0	14.59	28.83	13.45
3800	end apogee: CONTROL_FINISHED_OK
state	3801	begin climb
3802	0.80	145.9	2433	2399	3237	3330	507.4	0.0	294	3933	1.02	0.00	121.70	1.463	10758	0.154	0.000	2745	2398	2695	2624	2767	0	0	0	0	0	0	14.04	28.83	13.31
4209	0.72	145.9	2745	2399	2604	2754	464.4	13.2	313	4211	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2398	2678	2603	2754	0	0	0	0	0	0	28.83	28.83	28.83
4509	0.64	145.9	2746	2402	2604	2753	425.4	12.9	323	4519	0.20	2.45	0.00	0.000	4612	0.302	0.094	2704	996	2678	2605	2752	0	0	0	0	0	0	14.40	14.47	28.83
4553	0.68	163.1	2705	995	2603	2753	420.6	11.0	331	4574	0.00	2.50	13.90	1.330	9222	0.000	0.103	2704	2402	2623	2545	2701	0	0	0	0	0	0	28.83	14.50	13.84
4878	0.68	175.0	2704	2402	2533	2695	383.7	11.3	345	4892	0.00	0.00	10.60	1.255	8198	0.000	0.000	2708	2402	2578	2496	2660	0	0	0	0	0	0	28.83	28.83	13.92
5179	0.69	180.0	2705	2402	2484	2649	349.0	11.6	355	5181	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2402	2566	2483	2649	0	0	0	0	0	0	28.83	28.83	28.83
5478	0.69	185.6	2705	2407	2484	2650	314.2	11.6	365	5485	0.00	0.00	4.00	0.988	8198	0.000	0.000	2708	2401	2534	2452	2616	0	0	0	0	0	0	28.83	28.83	13.93
5779	0.70	196.4	2704	2402	2470	2636	279.5	11.3	375	5799	0.00	0.00	16.45	1.229	8198	0.000	0.000	2704	2402	2491	2410	2573	0	0	0	0	0	0	28.83	28.83	14.04
6079	0.70	204.4	2704	2402	2398	2558	244.8	11.5	387	6089	0.00	2.53	2.12	0.368	8708	0.000	0.094	2704	992	2459	2380	2539	0	0	0	0	0	0	28.83	14.61	13.81
6133	0.76	210.8	2704	992	2392	2549	238.6	11.6	397	6155	0.00	2.47	11.98	1.250	9222	0.000	0.103	2704	2401	2423	2343	2503	0	0	0	0	0	0	28.83	14.61	14.03
6460	0.82	237.4	2704	2401	2339	2500	201.3	10.5	431	6487	0.15	0.00	23.08	1.151	10246	0.134	0.000	2767	2401	2323	2243	2403	0	0	0	0	0	0	14.63	28.83	13.98
6781	0.78	237.4	2767	2401	2224	2389	157.4	13.1	463	6784	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	2400	2305	2223	2388	0	0	0	0	0	0	28.83	28.83	28.83
7081	0.78	265.5	2767	2401	2223	2388	122.3	10.4	493	7114	0.00	0.00	24.12	1.058	8710	0.000	0.000	2767	2400	2197	2110	2284	0	0	0	0	0	0	28.83	28.83	14.03
7411	0.81	301.9	2766	2401	2102	2279	87.9	9.9	527	7435	0.00	0.00	14.85	0.432	8198	0.000	0.000	2767	2401	2058	1967	2150	0	0	0	0	0	0	28.83	28.83	14.31
7731	0.87	340.9	2768	2401	1988	2163	55.5	9.8	559	7756	0.00	0.00	19.62	0.335	8198	0.000	0.000	2767	2400	1900	1802	1998	0	0	0	0	0	0	28.83	28.83	14.37
8051	1.01	420.8	2767	2401	1817	2008	29.0	7.6	591	8095	0.15	0.00	37.38	0.259	10246	0.126	0.000	2827	2400	1574	1469	1680	0	0	0	0	0	0	14.59	28.83	14.44
8391	1.27	636.0	2827	2401	1479	1678	13.9	0.2	625	8502	0.20	2.47	97.85	0.218	11012	0.109	0.093	2921	997	696	580	812	0	0	0	0	0	0	14.58	14.46	14.40
8595	end climb: SURFACE_DEPTH_REACHED
state	8595	begin surface coast
8615	end surface coast: CONTROL_FINISHED_OK
state	8615	begin surface