Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 30 * 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 30 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 19 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 17 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 -21658.168 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 -21658.168

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 19 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 17 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 30 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 300714,011449,7101.381,-14434.591,15,0.7,35,22.3 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 299.0,77831,-21.9,-11.905,-25.13,1887

_SM_ANGLEo -72.0 D_GRID 1000

GPS2 300714,012424,7101.376,-14434.540,4,0.7,24,22.3

Post-dive calculations and measurements:

FINISH 0.7,1.019992 _10V_AH 12.67,0.000

SM_CCo 8445,53.45,0.188,0,0,539,689.05 FG_AHR_24Vo 0.000

SM_GC 1.67,8.27,1.08,53.45,0.116,0.102,0.188,201,2199,539,-7.05,0.99,689.05,0,0,0,0,0,0,14.36,14.38,14.28 FG_AHR_10Vo 0.000

RAFOS_CLK 355 MEM 299744

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 30004,851

IRIDIUM_FIX 7026.32,-14436.17,290714,224621 CAP_FILE_SIZE 131169,0

TT8_MAMPS 0.047187,0.047187 CFSIZE 2097872896,2086797312

HUMID 53.58 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.48503 INTR 0,9344.27,0x2378b6,7,5

TCM_TEMP 11.90 SOUNDSPEED 1450.7

XPDR_PINGS 0 EKF 8572,4262.330078,-8676.124023,0.698946,-0.001161,0.000094,-0.042331,0.000126,0.001197,0.000099,0.000025,0.000025,0.000050

SC_FREEKB 4013576 CURRENT 0.024,45.13,1

TM_FREEKB 7616864 GPS 300714,034738,7102.410,-14435.878,14,0.8,34,22.3

_24V_AH 12.86,61.185

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 476 139.89 nil 0 0 0.00

Roll_motor 90 132 154.41 nil 0 0 0.00

VBD_pump_during_apogee 547 2106 14830.38 nil 0 0 0.00

VBD_pump_during_surface 53 188 129.36 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 8448 15 1701.11

Iridium_during_xfer 364 188 886.75 TMICL 8475 12 1379.25

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 6.96

TT8 0 0 0.00

LPSleep 5910 2 173.00

TT8_Active 765 10 106.42

TT8_Sampling 2327 29 875.93

TT8_CF8 78 36 36.26

TT8_Kalman 0 0 0.00

Analog_circuits 1895 10 240.22

GPS_charging 0 0 0.00

Compass 1255 5 79.51

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

18 -0.87 -145.9 191 2198 586 512 0.0 0.0 0 95 0.00 0.00 -73.57 0.000 16386 0.000 0.000 190 2198 2451 2456 2446 0 0 0 0 0 0 28.83 28.83 28.83

97 -0.87 -145.9 189 2199 2459 2448 4.3 -5.4 7 138 11.05 0.00 -25.33 0.000 18950 0.477 0.000 2182 2198 3946 4003 3889 0 0 0 0 0 0 14.06 28.83 14.47

433 -0.81 -145.9 2183 2199 4003 3895 84.5 -20.8 43 440 0.00 2.55 0.00 0.000 260 0.000 0.127 2173 3614 3949 4004 3895 0 0 0 0 0 0 28.83 14.35 28.83

549 -0.74 -145.9 2172 3614 4005 3896 110.0 -21.4 66 560 0.25 2.45 0.00 0.000 3078 0.322 0.091 2226 2193 3949 4003 3895 0 0 0 0 0 0 14.28 14.40 28.83

854 -0.74 -145.9 2228 2194 4003 3895 157.8 -14.3 97 857 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2193 3948 4003 3894 0 0 0 0 0 0 28.83 28.83 28.83

1155 -0.76 -145.9 2224 2194 4005 3896 196.7 -11.7 127 1163 0.00 2.55 0.00 0.000 260 0.000 0.132 2217 3613 3949 4003 3895 0 0 0 0 0 0 28.83 14.43 28.83

1222 -0.76 -145.9 2217 3614 4005 3895 205.3 -12.7 140 1231 0.00 2.42 0.00 0.000 1030 0.000 0.090 2217 2197 3949 4003 3895 0 0 0 0 0 0 28.83 14.47 28.83

1528 -0.78 -145.9 2216 2195 4004 3895 241.3 -11.4 171 1535 0.00 2.53 0.00 0.000 260 0.000 0.130 2206 3612 3948 4003 3894 0 0 0 0 0 0 28.83 14.45 28.83

1610 -0.78 -145.9 2207 3613 4002 3894 251.6 -12.9 187 1617 0.00 2.42 0.00 0.000 1030 0.000 0.090 2206 2193 3948 4003 3894 0 0 0 0 0 0 28.83 14.49 28.83

1922 -0.78 -145.9 2206 2194 4004 3893 288.1 -11.6 199 1930 0.00 2.55 0.00 0.000 260 0.000 0.131 2196 3617 3947 4003 3891 0 0 0 0 0 0 28.83 14.50 28.83

2014 -0.78 -145.9 2197 3617 4003 3893 299.9 -12.7 217 2022 0.00 2.42 0.00 0.000 1030 0.000 0.091 2196 2196 3947 4003 3892 0 0 0 0 0 0 28.83 14.52 28.83

2346 -0.78 -145.9 2197 2196 4003 3892 340.1 -12.0 233 2354 0.00 2.53 0.00 0.000 260 0.000 0.130 2185 3613 3947 4003 3891 0 0 0 0 0 0 28.83 14.51 28.83

2459 -0.78 -145.9 2187 3614 4002 3891 355.0 -13.5 255 2467 0.12 2.40 0.00 0.000 3078 0.309 0.091 2210 2199 3947 4003 3891 0 0 0 0 0 0 14.43 14.54 28.83

2772 -0.81 -145.9 2211 2199 4004 3890 389.4 -10.9 267 2780 0.00 2.53 0.00 0.000 260 0.000 0.129 2201 3617 3946 4003 3889 0 0 0 0 0 0 28.83 14.51 28.83

2874 -0.81 -145.9 2201 3617 4004 3890 401.4 -11.6 287 2882 0.00 2.42 0.00 0.000 1030 0.000 0.090 2201 2190 3946 4003 3889 0 0 0 0 0 0 28.83 14.56 28.83

3196 -0.83 -145.9 2202 2190 4003 3890 437.3 -11.2 301 3204 0.00 2.53 0.00 0.000 260 0.000 0.130 2190 3609 3947 4005 3889 0 0 0 0 0 0 28.83 14.53 28.83

3278 -0.83 -145.9 2192 3610 4002 3889 447.4 -12.6 317 3286 0.00 2.40 0.00 0.000 1030 0.000 0.090 2190 2198 3949 4010 3889 0 0 0 0 0 0 28.83 14.56 28.83

3590 -0.83 -145.9 2190 2199 4004 3890 483.8 -11.8 329 3598 0.00 2.53 0.00 0.000 260 0.000 0.129 2180 3621 3946 4003 3889 0 0 0 0 0 0 28.83 14.54 28.83

3677 -0.83 -145.9 2180 3621 4004 3889 495.0 -12.9 346 3688 0.00 2.42 0.00 0.000 1030 0.000 0.090 2180 2193 3945 4002 3889 0 0 0 0 0 0 28.83 14.57 28.83

3741 end dive: TARGET_DEPTH_EXCEEDED

state 3741 begin apogee

3744 -0.16 0.0 2174 2807 4004 3889 503.1 -12.6 349 3886 0.95 0.00 132.20 2.106 10246 0.299 0.000 2411 2806 3348 3401 3295 0 0 0 0 1 0 14.44 28.83 12.86

3888 end apogee: CONTROL_FINISHED_OK

state 3888 begin climb

3889 0.87 145.9 2414 2806 3409 3299 507.2 0.0 353 4038 1.10 1.88 131.23 1.709 10500 0.151 0.132 2738 3757 2741 2787 2696 0 0 0 0 0 0 13.74 13.55 12.97

4143 0.76 145.9 2738 3758 2784 2687 482.5 17.4 396 4150 0.15 1.70 0.00 0.000 5126 0.327 0.089 2719 2798 2734 2783 2686 0 0 0 0 0 0 13.85 13.96 28.83

4469 0.70 145.9 2714 2798 2783 2684 434.5 14.7 411 4477 0.00 2.47 0.00 0.000 516 0.000 0.102 2728 1397 2734 2783 2685 0 0 0 0 0 0 28.83 14.21 28.83

4536 0.66 145.9 2728 1398 2785 2685 425.1 13.5 424 4545 0.20 2.53 0.00 0.000 5126 0.309 0.111 2686 2800 2733 2783 2684 0 0 0 0 0 0 14.14 14.23 28.83

4864 0.62 145.9 2688 2800 2783 2685 383.3 12.7 439 4871 0.00 2.47 0.00 0.000 516 0.000 0.099 2695 1392 2733 2783 2684 0 0 0 0 0 0 28.83 14.35 28.83

4950 0.62 145.9 2696 1393 2783 2685 372.7 12.1 456 4959 0.00 2.53 0.00 0.000 1030 0.000 0.111 2695 2802 2733 2783 2684 0 0 0 0 0 0 28.83 14.37 28.83

5256 0.59 145.9 2694 2803 2785 2684 333.4 12.7 467 5264 0.12 2.47 0.00 0.000 4612 0.307 0.096 2675 1387 2733 2783 2684 0 0 0 0 0 0 14.35 14.43 28.83

5328 0.61 169.1 2678 1388 2783 2685 325.5 10.6 481 5356 0.00 2.50 19.73 1.463 9222 0.000 0.111 2676 2800 2650 2707 2594 0 0 0 0 0 0 28.83 14.43 13.74

5648 0.61 169.1 2676 2801 2703 2577 286.1 12.4 495 5656 0.00 2.47 0.00 0.000 516 0.000 0.099 2687 1387 2640 2701 2580 0 0 0 0 0 0 28.83 14.40 28.83

5730 0.61 169.1 2688 1388 2701 2580 276.2 12.4 511 5738 0.00 2.53 0.00 0.000 1030 0.000 0.111 2687 2807 2640 2701 2580 0 0 0 0 0 0 28.83 14.42 28.83

6042 0.59 169.1 2687 2807 2700 2580 236.5 12.8 529 6050 0.00 2.47 0.00 0.000 516 0.000 0.099 2697 1390 2640 2701 2580 0 0 0 0 0 0 28.83 14.47 28.83

6164 0.59 169.1 2696 1391 2703 2580 221.9 12.4 553 6173 0.15 2.50 0.00 0.000 5126 0.306 0.112 2667 2801 2640 2701 2580 0 0 0 0 0 0 14.36 14.45 28.83

6478 0.62 195.7 2668 2801 2701 2580 188.0 10.5 585 6508 0.00 2.55 22.58 1.319 8708 0.000 0.100 2675 1396 2541 2605 2478 0 0 0 0 0 0 28.83 14.32 13.81

6607 0.68 239.0 2675 1396 2601 2466 175.2 9.5 609 6656 0.00 2.53 38.72 1.227 9222 0.000 0.112 2675 2804 2360 2429 2292 0 0 0 0 0 0 28.83 14.33 13.66

6960 0.75 281.1 2675 2804 2423 2278 139.3 9.6 647 7007 0.12 2.58 36.33 1.201 10756 0.175 0.099 2729 1402 2187 2265 2109 0 0 0 0 0 0 14.35 14.11 13.68

7201 0.78 298.6 2729 1403 2261 2096 112.3 11.0 693 7223 0.00 2.53 14.05 1.168 9222 0.000 0.111 2729 2805 2123 2207 2039 0 0 0 0 0 0 28.83 14.27 13.69

7528 0.79 309.7 2729 2807 2200 2022 73.5 11.3 727 7543 0.00 2.53 3.10 0.221 8708 0.000 0.100 2740 1404 2090 2177 2003 0 0 0 0 0 0 28.83 14.35 14.26

7702 0.83 340.3 2740 1404 2193 2019 55.1 10.2 761 7731 0.00 2.53 18.60 0.324 9222 0.000 0.113 2739 2812 1960 2051 1869 0 0 0 0 0 0 28.83 14.37 14.21

8026 0.95 426.0 2739 2813 2064 1894 25.6 7.2 795 8081 0.12 2.60 45.38 0.244 10756 0.176 0.106 2794 1390 1610 1706 1515 0 0 0 0 0 0 14.40 14.33 14.27

8165 1.21 588.0 2794 1391 1717 1523 13.9 3.1 820 8260 0.20 2.53 85.68 0.218 11270 0.137 0.111 2861 2801 949 1036 862 0 0 0 0 0 0 14.36 14.33 14.21

8404 end climb: SURFACE_DEPTH_REACHED

state 8404 begin surface coast

8424 end surface coast: CONTROL_FINISHED_OK

state 8424 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	30	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	19	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	17	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	-21658.168	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	300714,011449,7101.381,-14434.591,15,0.7,35,22.3	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	299.0,77831,-21.9,-11.905,-25.13,1887
_SM_ANGLEo	-72.0	D_GRID	1000
GPS2	300714,012424,7101.376,-14434.540,4,0.7,24,22.3

FINISH	0.7,1.019992	_10V_AH	12.67,0.000
SM_CCo	8445,53.45,0.188,0,0,539,689.05	FG_AHR_24Vo	0.000
SM_GC	1.67,8.27,1.08,53.45,0.116,0.102,0.188,201,2199,539,-7.05,0.99,689.05,0,0,0,0,0,0,14.36,14.38,14.28	FG_AHR_10Vo	0.000
RAFOS_CLK	355	MEM	299744
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	30004,851
IRIDIUM_FIX	7026.32,-14436.17,290714,224621	CAP_FILE_SIZE	131169,0
TT8_MAMPS	0.047187,0.047187	CFSIZE	2097872896,2086797312
HUMID	53.58	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.48503	INTR	0,9344.27,0x2378b6,7,5
TCM_TEMP	11.90	SOUNDSPEED	1450.7
XPDR_PINGS	0	EKF	8572,4262.330078,-8676.124023,0.698946,-0.001161,0.000094,-0.042331,0.000126,0.001197,0.000099,0.000025,0.000025,0.000050
SC_FREEKB	4013576	CURRENT	0.024,45.13,1
TM_FREEKB	7616864	GPS	300714,034738,7102.410,-14435.878,14,0.8,34,22.3
_24V_AH	12.86,61.185

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	476	139.89	nil	0	0	0.00
Roll_motor	90	132	154.41	nil	0	0	0.00
VBD_pump_during_apogee	547	2106	14830.38	nil	0	0	0.00
VBD_pump_during_surface	53	188	129.36	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	8448	15	1701.11
Iridium_during_xfer	364	188	886.75	TMICL	8475	12	1379.25
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	6.96
TT8	0	0	0.00
LPSleep	5910	2	173.00
TT8_Active	765	10	106.42
TT8_Sampling	2327	29	875.93
TT8_CF8	78	36	36.26
TT8_Kalman	0	0	0.00
Analog_circuits	1895	10	240.22
GPS_charging	0	0	0.00
Compass	1255	5	79.51
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
18	-0.87	-145.9	191	2198	586	512	0.0	0.0	0	95	0.00	0.00	-73.57	0.000	16386	0.000	0.000	190	2198	2451	2456	2446	0	0	0	0	0	0	28.83	28.83	28.83
97	-0.87	-145.9	189	2199	2459	2448	4.3	-5.4	7	138	11.05	0.00	-25.33	0.000	18950	0.477	0.000	2182	2198	3946	4003	3889	0	0	0	0	0	0	14.06	28.83	14.47
433	-0.81	-145.9	2183	2199	4003	3895	84.5	-20.8	43	440	0.00	2.55	0.00	0.000	260	0.000	0.127	2173	3614	3949	4004	3895	0	0	0	0	0	0	28.83	14.35	28.83
549	-0.74	-145.9	2172	3614	4005	3896	110.0	-21.4	66	560	0.25	2.45	0.00	0.000	3078	0.322	0.091	2226	2193	3949	4003	3895	0	0	0	0	0	0	14.28	14.40	28.83
854	-0.74	-145.9	2228	2194	4003	3895	157.8	-14.3	97	857	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2193	3948	4003	3894	0	0	0	0	0	0	28.83	28.83	28.83
1155	-0.76	-145.9	2224	2194	4005	3896	196.7	-11.7	127	1163	0.00	2.55	0.00	0.000	260	0.000	0.132	2217	3613	3949	4003	3895	0	0	0	0	0	0	28.83	14.43	28.83
1222	-0.76	-145.9	2217	3614	4005	3895	205.3	-12.7	140	1231	0.00	2.42	0.00	0.000	1030	0.000	0.090	2217	2197	3949	4003	3895	0	0	0	0	0	0	28.83	14.47	28.83
1528	-0.78	-145.9	2216	2195	4004	3895	241.3	-11.4	171	1535	0.00	2.53	0.00	0.000	260	0.000	0.130	2206	3612	3948	4003	3894	0	0	0	0	0	0	28.83	14.45	28.83
1610	-0.78	-145.9	2207	3613	4002	3894	251.6	-12.9	187	1617	0.00	2.42	0.00	0.000	1030	0.000	0.090	2206	2193	3948	4003	3894	0	0	0	0	0	0	28.83	14.49	28.83
1922	-0.78	-145.9	2206	2194	4004	3893	288.1	-11.6	199	1930	0.00	2.55	0.00	0.000	260	0.000	0.131	2196	3617	3947	4003	3891	0	0	0	0	0	0	28.83	14.50	28.83
2014	-0.78	-145.9	2197	3617	4003	3893	299.9	-12.7	217	2022	0.00	2.42	0.00	0.000	1030	0.000	0.091	2196	2196	3947	4003	3892	0	0	0	0	0	0	28.83	14.52	28.83
2346	-0.78	-145.9	2197	2196	4003	3892	340.1	-12.0	233	2354	0.00	2.53	0.00	0.000	260	0.000	0.130	2185	3613	3947	4003	3891	0	0	0	0	0	0	28.83	14.51	28.83
2459	-0.78	-145.9	2187	3614	4002	3891	355.0	-13.5	255	2467	0.12	2.40	0.00	0.000	3078	0.309	0.091	2210	2199	3947	4003	3891	0	0	0	0	0	0	14.43	14.54	28.83
2772	-0.81	-145.9	2211	2199	4004	3890	389.4	-10.9	267	2780	0.00	2.53	0.00	0.000	260	0.000	0.129	2201	3617	3946	4003	3889	0	0	0	0	0	0	28.83	14.51	28.83
2874	-0.81	-145.9	2201	3617	4004	3890	401.4	-11.6	287	2882	0.00	2.42	0.00	0.000	1030	0.000	0.090	2201	2190	3946	4003	3889	0	0	0	0	0	0	28.83	14.56	28.83
3196	-0.83	-145.9	2202	2190	4003	3890	437.3	-11.2	301	3204	0.00	2.53	0.00	0.000	260	0.000	0.130	2190	3609	3947	4005	3889	0	0	0	0	0	0	28.83	14.53	28.83
3278	-0.83	-145.9	2192	3610	4002	3889	447.4	-12.6	317	3286	0.00	2.40	0.00	0.000	1030	0.000	0.090	2190	2198	3949	4010	3889	0	0	0	0	0	0	28.83	14.56	28.83
3590	-0.83	-145.9	2190	2199	4004	3890	483.8	-11.8	329	3598	0.00	2.53	0.00	0.000	260	0.000	0.129	2180	3621	3946	4003	3889	0	0	0	0	0	0	28.83	14.54	28.83
3677	-0.83	-145.9	2180	3621	4004	3889	495.0	-12.9	346	3688	0.00	2.42	0.00	0.000	1030	0.000	0.090	2180	2193	3945	4002	3889	0	0	0	0	0	0	28.83	14.57	28.83
3741	end dive: TARGET_DEPTH_EXCEEDED
state	3741	begin apogee
3744	-0.16	0.0	2174	2807	4004	3889	503.1	-12.6	349	3886	0.95	0.00	132.20	2.106	10246	0.299	0.000	2411	2806	3348	3401	3295	0	0	0	0	1	0	14.44	28.83	12.86
3888	end apogee: CONTROL_FINISHED_OK
state	3888	begin climb
3889	0.87	145.9	2414	2806	3409	3299	507.2	0.0	353	4038	1.10	1.88	131.23	1.709	10500	0.151	0.132	2738	3757	2741	2787	2696	0	0	0	0	0	0	13.74	13.55	12.97
4143	0.76	145.9	2738	3758	2784	2687	482.5	17.4	396	4150	0.15	1.70	0.00	0.000	5126	0.327	0.089	2719	2798	2734	2783	2686	0	0	0	0	0	0	13.85	13.96	28.83
4469	0.70	145.9	2714	2798	2783	2684	434.5	14.7	411	4477	0.00	2.47	0.00	0.000	516	0.000	0.102	2728	1397	2734	2783	2685	0	0	0	0	0	0	28.83	14.21	28.83
4536	0.66	145.9	2728	1398	2785	2685	425.1	13.5	424	4545	0.20	2.53	0.00	0.000	5126	0.309	0.111	2686	2800	2733	2783	2684	0	0	0	0	0	0	14.14	14.23	28.83
4864	0.62	145.9	2688	2800	2783	2685	383.3	12.7	439	4871	0.00	2.47	0.00	0.000	516	0.000	0.099	2695	1392	2733	2783	2684	0	0	0	0	0	0	28.83	14.35	28.83
4950	0.62	145.9	2696	1393	2783	2685	372.7	12.1	456	4959	0.00	2.53	0.00	0.000	1030	0.000	0.111	2695	2802	2733	2783	2684	0	0	0	0	0	0	28.83	14.37	28.83
5256	0.59	145.9	2694	2803	2785	2684	333.4	12.7	467	5264	0.12	2.47	0.00	0.000	4612	0.307	0.096	2675	1387	2733	2783	2684	0	0	0	0	0	0	14.35	14.43	28.83
5328	0.61	169.1	2678	1388	2783	2685	325.5	10.6	481	5356	0.00	2.50	19.73	1.463	9222	0.000	0.111	2676	2800	2650	2707	2594	0	0	0	0	0	0	28.83	14.43	13.74
5648	0.61	169.1	2676	2801	2703	2577	286.1	12.4	495	5656	0.00	2.47	0.00	0.000	516	0.000	0.099	2687	1387	2640	2701	2580	0	0	0	0	0	0	28.83	14.40	28.83
5730	0.61	169.1	2688	1388	2701	2580	276.2	12.4	511	5738	0.00	2.53	0.00	0.000	1030	0.000	0.111	2687	2807	2640	2701	2580	0	0	0	0	0	0	28.83	14.42	28.83
6042	0.59	169.1	2687	2807	2700	2580	236.5	12.8	529	6050	0.00	2.47	0.00	0.000	516	0.000	0.099	2697	1390	2640	2701	2580	0	0	0	0	0	0	28.83	14.47	28.83
6164	0.59	169.1	2696	1391	2703	2580	221.9	12.4	553	6173	0.15	2.50	0.00	0.000	5126	0.306	0.112	2667	2801	2640	2701	2580	0	0	0	0	0	0	14.36	14.45	28.83
6478	0.62	195.7	2668	2801	2701	2580	188.0	10.5	585	6508	0.00	2.55	22.58	1.319	8708	0.000	0.100	2675	1396	2541	2605	2478	0	0	0	0	0	0	28.83	14.32	13.81
6607	0.68	239.0	2675	1396	2601	2466	175.2	9.5	609	6656	0.00	2.53	38.72	1.227	9222	0.000	0.112	2675	2804	2360	2429	2292	0	0	0	0	0	0	28.83	14.33	13.66
6960	0.75	281.1	2675	2804	2423	2278	139.3	9.6	647	7007	0.12	2.58	36.33	1.201	10756	0.175	0.099	2729	1402	2187	2265	2109	0	0	0	0	0	0	14.35	14.11	13.68
7201	0.78	298.6	2729	1403	2261	2096	112.3	11.0	693	7223	0.00	2.53	14.05	1.168	9222	0.000	0.111	2729	2805	2123	2207	2039	0	0	0	0	0	0	28.83	14.27	13.69
7528	0.79	309.7	2729	2807	2200	2022	73.5	11.3	727	7543	0.00	2.53	3.10	0.221	8708	0.000	0.100	2740	1404	2090	2177	2003	0	0	0	0	0	0	28.83	14.35	14.26
7702	0.83	340.3	2740	1404	2193	2019	55.1	10.2	761	7731	0.00	2.53	18.60	0.324	9222	0.000	0.113	2739	2812	1960	2051	1869	0	0	0	0	0	0	28.83	14.37	14.21
8026	0.95	426.0	2739	2813	2064	1894	25.6	7.2	795	8081	0.12	2.60	45.38	0.244	10756	0.176	0.106	2794	1390	1610	1706	1515	0	0	0	0	0	0	14.40	14.33	14.27
8165	1.21	588.0	2794	1391	1717	1523	13.9	3.1	820	8260	0.20	2.53	85.68	0.218	11270	0.137	0.111	2861	2801	949	1036	862	0	0	0	0	0	0	14.36	14.33	14.21
8404	end climb: SURFACE_DEPTH_REACHED
state	8404	begin surface coast
8424	end surface coast: CONTROL_FINISHED_OK
state	8424	begin surface