Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 31 * 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 31 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 28 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 16 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 3 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 3 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 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 -21659.838 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 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 T_GPS 3

CAPUPLOAD 0 ID 199 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -21659.838

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 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 28 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 16 USE_ICE 0

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 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 31 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 300714,034738,7102.410,-14435.878,14,0.8,34,22.3 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 1.71 MHEAD_RNG_PITCHd_Wd 297.4,75833,-21.9,-11.905,-25.13,1887

_SM_ANGLEo -69.0 D_GRID 1000

GPS2 300714,035635,7102.410,-14435.814,4,0.8,24,22.3

Post-dive calculations and measurements:

FINISH 0.8,1.019851 _10V_AH 12.72,0.000

SM_CCo 8499,39.30,0.189,0,0,538,689.05 FG_AHR_24Vo 0.000

SM_GC 1.79,8.23,1.12,39.30,0.103,0.105,0.189,200,2192,538,-7.05,0.51,689.05,0,0,0,0,0,0,14.35,14.34,14.26 FG_AHR_10Vo 0.000

RAFOS_CLK 355 MEM 299352

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 30039,863

IRIDIUM_FIX 7026.32,-14432.35,300714,011811 CAP_FILE_SIZE 134048,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2086535168

HUMID 53.62 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.48503 INTR 0,9130.41,0x2378b6,7,5

TCM_TEMP 11.90 SOUNDSPEED 1450.8

XPDR_PINGS 0 EKF 8636,4263.335938,-8677.611328,0.777143,-0.147999,-0.040807,0.012764,0.000123,0.001164,0.000099,0.002025,0.002025,0.000050

SC_FREEKB 4013476 CURRENT 0.032,45.76,1

TM_FREEKB 7603296 GPS 300714,062053,7103.428,-14437.289,38,0.8,58,22.3

_24V_AH 13.06,61.515

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 472 140.00 nil 0 0 0.00

Roll_motor 96 131 165.49 nil 0 0 0.00

VBD_pump_during_apogee 613 1555 12469.23 nil 0 0 0.00

VBD_pump_during_surface 39 188 96.98 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 8502 15 1737.72

Iridium_during_xfer 328 193 830.10 TMICL 8529 12 1411.41

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.00

TT8 0 0 0.00

LPSleep 5877 2 172.70

TT8_Active 798 10 111.46

TT8_Sampling 2327 29 879.35

TT8_CF8 81 36 37.90

TT8_Kalman 0 0 0.00

Analog_circuits 1916 10 243.83

GPS_charging 0 0 0.00

Compass 1273 5 80.98

RAFOS 1495 48 912.79

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 17 begin dive

18 -0.87 -145.9 194 2198 567 518 0.0 0.0 0 84 0.00 0.00 -63.08 0.000 16386 0.000 0.000 196 2198 2120 2130 2110 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.87 -145.9 195 2198 2130 2110 3.1 -3.3 6 138 10.88 0.00 -35.90 0.000 19206 0.473 0.000 2181 2198 3945 4001 3890 0 0 0 0 0 0 14.08 28.83 14.45

432 -0.80 -145.9 2180 2199 4001 3898 84.8 -20.9 42 440 0.00 2.58 0.00 0.000 260 0.000 0.128 2171 3618 3952 4008 3896 0 0 0 0 0 0 28.83 14.31 28.83

574 -0.74 -145.9 2172 3619 4002 3897 115.9 -22.0 70 582 0.25 2.47 0.00 0.000 3078 0.319 0.091 2225 2197 3948 4001 3896 0 0 0 0 0 0 14.22 14.34 28.83

886 -0.74 -145.9 2226 2198 4001 3903 163.1 -13.5 102 894 0.00 2.55 0.00 0.000 260 0.000 0.129 2215 3612 3949 4001 3898 0 0 0 0 0 0 28.83 14.33 28.83

948 -0.74 -145.9 2217 3613 4000 3897 171.9 -14.0 114 955 0.00 2.45 0.00 0.000 1030 0.000 0.089 2215 2196 3948 4001 3896 0 0 0 0 0 0 28.83 14.36 28.83

1259 -0.74 -145.9 2215 2196 4002 3897 211.5 -12.2 146 1267 0.00 2.58 0.00 0.000 260 0.000 0.129 2205 3618 3948 4000 3896 0 0 0 0 0 0 28.83 14.33 28.83

1311 -0.74 -145.9 2208 3618 4002 3897 218.1 -12.6 156 1321 0.00 2.45 0.00 0.000 1030 0.000 0.089 2208 2199 3948 4000 3896 0 0 0 0 0 0 28.83 14.35 28.83

1635 -0.74 -145.9 2206 2199 4000 3891 257.8 -11.9 185 1643 0.00 2.55 0.00 0.000 260 0.000 0.129 2194 3615 3947 4000 3895 0 0 0 0 0 0 28.83 14.37 28.83

1722 -0.74 -145.9 2196 3616 4000 3895 269.0 -12.7 202 1732 0.15 2.45 0.00 0.000 3078 0.295 0.090 2225 2191 3947 4000 3895 0 0 0 0 0 0 14.31 14.42 28.83

2028 -0.78 -145.9 2227 2192 4000 3894 301.3 -10.4 213 2036 0.00 2.55 0.00 0.000 260 0.000 0.130 2216 3612 3946 4000 3893 0 0 0 0 0 0 28.83 14.47 28.83

2100 -0.80 -145.9 2217 3612 4000 3894 309.8 -12.0 227 2108 0.00 2.42 0.00 0.000 1030 0.000 0.090 2216 2197 3946 4000 3893 0 0 0 0 0 0 28.83 14.47 28.83

2423 -0.84 -145.9 2217 2197 3999 3894 345.1 -10.8 241 2431 0.00 2.53 0.00 0.000 260 0.000 0.129 2205 3612 3947 4000 3894 0 0 0 0 0 0 28.83 14.49 28.83

2510 -0.84 -145.9 2206 3612 3999 3893 355.6 -12.2 258 2519 0.00 2.42 0.00 0.000 1030 0.000 0.090 2205 2191 3946 4001 3892 0 0 0 0 0 0 28.83 14.50 28.83

2815 -0.86 -145.9 2211 2192 4002 3893 390.1 -11.2 269 2823 0.00 2.55 0.00 0.000 260 0.000 0.129 2195 3622 3946 4000 3892 0 0 0 0 0 0 28.83 14.50 28.83

2887 -0.86 -145.9 2196 3622 4000 3892 399.0 -12.6 283 2895 0.00 2.45 0.00 0.000 1030 0.000 0.090 2195 2191 3946 4000 3892 0 0 0 0 0 0 28.83 14.53 28.83

3210 -0.86 -145.9 2196 2189 4000 3892 436.4 -11.5 297 3218 0.00 2.55 0.00 0.000 260 0.000 0.129 2184 3621 3945 4000 3891 0 0 0 0 0 0 28.83 14.51 28.83

3281 -0.86 -145.9 2184 3622 4000 3892 445.5 -12.7 311 3290 0.00 2.47 0.00 0.000 1030 0.000 0.090 2184 2177 3945 4000 3891 0 0 0 0 0 0 28.83 14.52 28.83

3604 -0.86 -145.9 2184 2178 4002 3892 483.9 -11.8 325 3612 0.00 2.55 0.00 0.000 260 0.000 0.129 2174 3613 3945 4000 3891 0 0 0 0 0 0 28.83 14.53 28.83

3696 -0.86 -145.9 2175 3614 4000 3891 496.0 -13.2 343 3705 0.00 2.40 0.00 0.000 1030 0.000 0.090 2174 2197 3945 4001 3890 0 0 0 0 0 0 28.83 14.55 28.83

3728 end dive: TARGET_DEPTH_EXCEEDED

state 3728 begin apogee

3731 -0.16 0.0 2169 2804 4001 3891 500.2 -13.4 349 3918 0.98 0.00 181.93 1.385 10246 0.300 0.000 2409 2803 3348 3402 3294 0 0 0 0 0 0 14.39 28.83 13.26

3920 end apogee: CONTROL_FINISHED_OK

state 3920 begin climb

3921 0.87 145.9 2413 2804 3395 3287 506.6 0.0 355 4064 1.12 1.88 126.20 1.555 10500 0.159 0.132 2743 3766 2738 2786 2691 0 0 0 0 0 0 13.81 13.61 13.06

4223 0.76 145.9 2748 3766 2777 2680 470.7 17.7 408 4234 0.12 1.73 0.00 0.000 5126 0.305 0.088 2726 2806 2728 2778 2679 0 0 0 0 0 0 13.93 14.06 28.83

4529 0.70 145.9 2721 2807 2779 2679 426.9 14.2 419 4537 0.00 2.50 0.00 0.000 516 0.000 0.102 2731 1387 2730 2783 2678 0 0 0 0 0 0 28.83 14.23 28.83

4601 0.65 145.9 2732 1388 2777 2678 417.1 12.7 433 4609 0.20 2.55 0.00 0.000 5126 0.304 0.110 2688 2806 2727 2777 2677 0 0 0 0 0 0 14.18 14.29 28.83

4924 0.62 145.9 2688 2811 2779 2678 376.7 12.6 447 4931 0.00 2.50 0.00 0.000 516 0.000 0.099 2697 1381 2727 2778 2677 0 0 0 0 0 0 28.83 14.38 28.83

4995 0.61 149.6 2697 1382 2779 2678 367.9 11.7 461 5004 0.12 2.55 0.00 0.000 5126 0.307 0.111 2673 2805 2730 2784 2677 0 0 0 0 0 0 14.29 14.38 28.83

5318 0.59 149.6 2674 2805 2778 2677 329.2 12.0 475 5327 0.00 2.47 0.00 0.000 516 0.000 0.099 2683 1388 2727 2777 2677 0 0 0 0 0 0 28.83 14.44 28.83

5395 0.61 164.7 2682 1388 2779 2677 320.3 11.1 490 5419 0.00 2.50 14.95 1.395 9222 0.000 0.110 2682 2799 2670 2725 2616 0 0 0 0 0 0 28.83 14.43 13.78

5711 0.61 164.7 2683 2799 2716 2597 281.1 12.4 503 5719 0.00 2.47 0.00 0.000 516 0.000 0.101 2691 1385 2656 2716 2597 0 0 0 0 0 0 28.83 14.42 28.83

5783 0.62 173.6 2692 1386 2717 2597 272.5 11.4 517 5791 0.00 2.53 2.10 0.341 9222 0.000 0.111 2693 2802 2637 2697 2578 0 0 0 0 0 0 28.83 14.43 13.57

6095 0.59 173.6 2692 2802 2715 2594 232.5 12.5 538 6105 0.12 2.47 1.58 0.226 12804 0.312 0.098 2677 1385 2640 2701 2580 0 0 0 0 0 0 14.38 14.47 14.42

6199 0.62 200.2 2677 1385 2723 2590 221.0 10.5 558 6240 0.00 2.53 30.70 1.280 9222 0.000 0.112 2677 2802 2518 2582 2454 0 0 0 0 0 0 28.83 14.44 13.74

6534 0.64 210.9 2678 2802 2569 2437 181.6 11.3 594 6543 0.00 2.58 2.08 0.319 8708 0.000 0.100 2687 1381 2487 2556 2419 0 0 0 0 0 0 28.83 14.37 13.32

6618 0.67 236.0 2687 1382 2570 2430 172.6 10.5 610 6658 0.00 2.53 30.60 1.271 9222 0.000 0.111 2687 2801 2375 2441 2310 0 0 0 0 0 0 28.83 14.35 13.66

6952 0.70 258.0 2687 2800 2432 2289 136.3 10.7 646 6976 0.00 2.60 17.77 1.252 8708 0.000 0.101 2697 1385 2289 2361 2217 0 0 0 0 0 0 28.83 14.23 13.71

7115 0.78 304.7 2697 1385 2351 2200 120.5 9.4 677 7171 0.00 2.58 43.10 1.232 9222 0.000 0.111 2697 2809 2090 2174 2006 0 0 0 0 0 0 28.83 14.28 13.57

7475 0.86 336.6 2697 2810 2170 1987 82.0 10.2 716 7497 0.15 2.55 13.40 0.369 10756 0.159 0.102 2756 1386 1977 2069 1886 0 0 0 0 0 0 14.32 14.24 14.12

7646 0.86 336.6 2756 1385 2092 1909 60.7 13.0 749 7656 0.00 2.55 3.15 0.227 9222 0.000 0.113 2756 2801 1973 2065 1882 0 0 0 0 0 0 28.83 14.32 14.22

7952 0.93 400.5 2755 2802 2088 1911 29.5 8.4 780 7996 0.00 2.50 34.53 0.256 8708 0.000 0.100 2766 1387 1715 1808 1622 0 0 0 0 0 0 28.83 14.31 14.24

8220 1.27 615.6 2767 1387 1820 1636 14.9 0.2 831 8344 0.35 2.55 111.82 0.215 11270 0.119 0.112 2884 2809 837 917 757 0 0 0 0 0 0 14.40 14.38 14.21

8457 end climb: SURFACE_DEPTH_REACHED

state 8457 begin surface coast

8478 end surface coast: CONTROL_FINISHED_OK

state 8478 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	31	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	28	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	16	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	3	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	3	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	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	-21659.838	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	300714,034738,7102.410,-14435.878,14,0.8,34,22.3	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	1.71	MHEAD_RNG_PITCHd_Wd	297.4,75833,-21.9,-11.905,-25.13,1887
_SM_ANGLEo	-69.0	D_GRID	1000
GPS2	300714,035635,7102.410,-14435.814,4,0.8,24,22.3

FINISH	0.8,1.019851	_10V_AH	12.72,0.000
SM_CCo	8499,39.30,0.189,0,0,538,689.05	FG_AHR_24Vo	0.000
SM_GC	1.79,8.23,1.12,39.30,0.103,0.105,0.189,200,2192,538,-7.05,0.51,689.05,0,0,0,0,0,0,14.35,14.34,14.26	FG_AHR_10Vo	0.000
RAFOS_CLK	355	MEM	299352
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	30039,863
IRIDIUM_FIX	7026.32,-14432.35,300714,011811	CAP_FILE_SIZE	134048,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2086535168
HUMID	53.62	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.48503	INTR	0,9130.41,0x2378b6,7,5
TCM_TEMP	11.90	SOUNDSPEED	1450.8
XPDR_PINGS	0	EKF	8636,4263.335938,-8677.611328,0.777143,-0.147999,-0.040807,0.012764,0.000123,0.001164,0.000099,0.002025,0.002025,0.000050
SC_FREEKB	4013476	CURRENT	0.032,45.76,1
TM_FREEKB	7603296	GPS	300714,062053,7103.428,-14437.289,38,0.8,58,22.3
_24V_AH	13.06,61.515

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	472	140.00	nil	0	0	0.00
Roll_motor	96	131	165.49	nil	0	0	0.00
VBD_pump_during_apogee	613	1555	12469.23	nil	0	0	0.00
VBD_pump_during_surface	39	188	96.98	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	8502	15	1737.72
Iridium_during_xfer	328	193	830.10	TMICL	8529	12	1411.41
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.00
TT8	0	0	0.00
LPSleep	5877	2	172.70
TT8_Active	798	10	111.46
TT8_Sampling	2327	29	879.35
TT8_CF8	81	36	37.90
TT8_Kalman	0	0	0.00
Analog_circuits	1916	10	243.83
GPS_charging	0	0	0.00
Compass	1273	5	80.98
RAFOS	1495	48	912.79
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	17	begin dive
18	-0.87	-145.9	194	2198	567	518	0.0	0.0	0	84	0.00	0.00	-63.08	0.000	16386	0.000	0.000	196	2198	2120	2130	2110	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.87	-145.9	195	2198	2130	2110	3.1	-3.3	6	138	10.88	0.00	-35.90	0.000	19206	0.473	0.000	2181	2198	3945	4001	3890	0	0	0	0	0	0	14.08	28.83	14.45
432	-0.80	-145.9	2180	2199	4001	3898	84.8	-20.9	42	440	0.00	2.58	0.00	0.000	260	0.000	0.128	2171	3618	3952	4008	3896	0	0	0	0	0	0	28.83	14.31	28.83
574	-0.74	-145.9	2172	3619	4002	3897	115.9	-22.0	70	582	0.25	2.47	0.00	0.000	3078	0.319	0.091	2225	2197	3948	4001	3896	0	0	0	0	0	0	14.22	14.34	28.83
886	-0.74	-145.9	2226	2198	4001	3903	163.1	-13.5	102	894	0.00	2.55	0.00	0.000	260	0.000	0.129	2215	3612	3949	4001	3898	0	0	0	0	0	0	28.83	14.33	28.83
948	-0.74	-145.9	2217	3613	4000	3897	171.9	-14.0	114	955	0.00	2.45	0.00	0.000	1030	0.000	0.089	2215	2196	3948	4001	3896	0	0	0	0	0	0	28.83	14.36	28.83
1259	-0.74	-145.9	2215	2196	4002	3897	211.5	-12.2	146	1267	0.00	2.58	0.00	0.000	260	0.000	0.129	2205	3618	3948	4000	3896	0	0	0	0	0	0	28.83	14.33	28.83
1311	-0.74	-145.9	2208	3618	4002	3897	218.1	-12.6	156	1321	0.00	2.45	0.00	0.000	1030	0.000	0.089	2208	2199	3948	4000	3896	0	0	0	0	0	0	28.83	14.35	28.83
1635	-0.74	-145.9	2206	2199	4000	3891	257.8	-11.9	185	1643	0.00	2.55	0.00	0.000	260	0.000	0.129	2194	3615	3947	4000	3895	0	0	0	0	0	0	28.83	14.37	28.83
1722	-0.74	-145.9	2196	3616	4000	3895	269.0	-12.7	202	1732	0.15	2.45	0.00	0.000	3078	0.295	0.090	2225	2191	3947	4000	3895	0	0	0	0	0	0	14.31	14.42	28.83
2028	-0.78	-145.9	2227	2192	4000	3894	301.3	-10.4	213	2036	0.00	2.55	0.00	0.000	260	0.000	0.130	2216	3612	3946	4000	3893	0	0	0	0	0	0	28.83	14.47	28.83
2100	-0.80	-145.9	2217	3612	4000	3894	309.8	-12.0	227	2108	0.00	2.42	0.00	0.000	1030	0.000	0.090	2216	2197	3946	4000	3893	0	0	0	0	0	0	28.83	14.47	28.83
2423	-0.84	-145.9	2217	2197	3999	3894	345.1	-10.8	241	2431	0.00	2.53	0.00	0.000	260	0.000	0.129	2205	3612	3947	4000	3894	0	0	0	0	0	0	28.83	14.49	28.83
2510	-0.84	-145.9	2206	3612	3999	3893	355.6	-12.2	258	2519	0.00	2.42	0.00	0.000	1030	0.000	0.090	2205	2191	3946	4001	3892	0	0	0	0	0	0	28.83	14.50	28.83
2815	-0.86	-145.9	2211	2192	4002	3893	390.1	-11.2	269	2823	0.00	2.55	0.00	0.000	260	0.000	0.129	2195	3622	3946	4000	3892	0	0	0	0	0	0	28.83	14.50	28.83
2887	-0.86	-145.9	2196	3622	4000	3892	399.0	-12.6	283	2895	0.00	2.45	0.00	0.000	1030	0.000	0.090	2195	2191	3946	4000	3892	0	0	0	0	0	0	28.83	14.53	28.83
3210	-0.86	-145.9	2196	2189	4000	3892	436.4	-11.5	297	3218	0.00	2.55	0.00	0.000	260	0.000	0.129	2184	3621	3945	4000	3891	0	0	0	0	0	0	28.83	14.51	28.83
3281	-0.86	-145.9	2184	3622	4000	3892	445.5	-12.7	311	3290	0.00	2.47	0.00	0.000	1030	0.000	0.090	2184	2177	3945	4000	3891	0	0	0	0	0	0	28.83	14.52	28.83
3604	-0.86	-145.9	2184	2178	4002	3892	483.9	-11.8	325	3612	0.00	2.55	0.00	0.000	260	0.000	0.129	2174	3613	3945	4000	3891	0	0	0	0	0	0	28.83	14.53	28.83
3696	-0.86	-145.9	2175	3614	4000	3891	496.0	-13.2	343	3705	0.00	2.40	0.00	0.000	1030	0.000	0.090	2174	2197	3945	4001	3890	0	0	0	0	0	0	28.83	14.55	28.83
3728	end dive: TARGET_DEPTH_EXCEEDED
state	3728	begin apogee
3731	-0.16	0.0	2169	2804	4001	3891	500.2	-13.4	349	3918	0.98	0.00	181.93	1.385	10246	0.300	0.000	2409	2803	3348	3402	3294	0	0	0	0	0	0	14.39	28.83	13.26
3920	end apogee: CONTROL_FINISHED_OK
state	3920	begin climb
3921	0.87	145.9	2413	2804	3395	3287	506.6	0.0	355	4064	1.12	1.88	126.20	1.555	10500	0.159	0.132	2743	3766	2738	2786	2691	0	0	0	0	0	0	13.81	13.61	13.06
4223	0.76	145.9	2748	3766	2777	2680	470.7	17.7	408	4234	0.12	1.73	0.00	0.000	5126	0.305	0.088	2726	2806	2728	2778	2679	0	0	0	0	0	0	13.93	14.06	28.83
4529	0.70	145.9	2721	2807	2779	2679	426.9	14.2	419	4537	0.00	2.50	0.00	0.000	516	0.000	0.102	2731	1387	2730	2783	2678	0	0	0	0	0	0	28.83	14.23	28.83
4601	0.65	145.9	2732	1388	2777	2678	417.1	12.7	433	4609	0.20	2.55	0.00	0.000	5126	0.304	0.110	2688	2806	2727	2777	2677	0	0	0	0	0	0	14.18	14.29	28.83
4924	0.62	145.9	2688	2811	2779	2678	376.7	12.6	447	4931	0.00	2.50	0.00	0.000	516	0.000	0.099	2697	1381	2727	2778	2677	0	0	0	0	0	0	28.83	14.38	28.83
4995	0.61	149.6	2697	1382	2779	2678	367.9	11.7	461	5004	0.12	2.55	0.00	0.000	5126	0.307	0.111	2673	2805	2730	2784	2677	0	0	0	0	0	0	14.29	14.38	28.83
5318	0.59	149.6	2674	2805	2778	2677	329.2	12.0	475	5327	0.00	2.47	0.00	0.000	516	0.000	0.099	2683	1388	2727	2777	2677	0	0	0	0	0	0	28.83	14.44	28.83
5395	0.61	164.7	2682	1388	2779	2677	320.3	11.1	490	5419	0.00	2.50	14.95	1.395	9222	0.000	0.110	2682	2799	2670	2725	2616	0	0	0	0	0	0	28.83	14.43	13.78
5711	0.61	164.7	2683	2799	2716	2597	281.1	12.4	503	5719	0.00	2.47	0.00	0.000	516	0.000	0.101	2691	1385	2656	2716	2597	0	0	0	0	0	0	28.83	14.42	28.83
5783	0.62	173.6	2692	1386	2717	2597	272.5	11.4	517	5791	0.00	2.53	2.10	0.341	9222	0.000	0.111	2693	2802	2637	2697	2578	0	0	0	0	0	0	28.83	14.43	13.57
6095	0.59	173.6	2692	2802	2715	2594	232.5	12.5	538	6105	0.12	2.47	1.58	0.226	12804	0.312	0.098	2677	1385	2640	2701	2580	0	0	0	0	0	0	14.38	14.47	14.42
6199	0.62	200.2	2677	1385	2723	2590	221.0	10.5	558	6240	0.00	2.53	30.70	1.280	9222	0.000	0.112	2677	2802	2518	2582	2454	0	0	0	0	0	0	28.83	14.44	13.74
6534	0.64	210.9	2678	2802	2569	2437	181.6	11.3	594	6543	0.00	2.58	2.08	0.319	8708	0.000	0.100	2687	1381	2487	2556	2419	0	0	0	0	0	0	28.83	14.37	13.32
6618	0.67	236.0	2687	1382	2570	2430	172.6	10.5	610	6658	0.00	2.53	30.60	1.271	9222	0.000	0.111	2687	2801	2375	2441	2310	0	0	0	0	0	0	28.83	14.35	13.66
6952	0.70	258.0	2687	2800	2432	2289	136.3	10.7	646	6976	0.00	2.60	17.77	1.252	8708	0.000	0.101	2697	1385	2289	2361	2217	0	0	0	0	0	0	28.83	14.23	13.71
7115	0.78	304.7	2697	1385	2351	2200	120.5	9.4	677	7171	0.00	2.58	43.10	1.232	9222	0.000	0.111	2697	2809	2090	2174	2006	0	0	0	0	0	0	28.83	14.28	13.57
7475	0.86	336.6	2697	2810	2170	1987	82.0	10.2	716	7497	0.15	2.55	13.40	0.369	10756	0.159	0.102	2756	1386	1977	2069	1886	0	0	0	0	0	0	14.32	14.24	14.12
7646	0.86	336.6	2756	1385	2092	1909	60.7	13.0	749	7656	0.00	2.55	3.15	0.227	9222	0.000	0.113	2756	2801	1973	2065	1882	0	0	0	0	0	0	28.83	14.32	14.22
7952	0.93	400.5	2755	2802	2088	1911	29.5	8.4	780	7996	0.00	2.50	34.53	0.256	8708	0.000	0.100	2766	1387	1715	1808	1622	0	0	0	0	0	0	28.83	14.31	14.24
8220	1.27	615.6	2767	1387	1820	1636	14.9	0.2	831	8344	0.35	2.55	111.82	0.215	11270	0.119	0.112	2884	2809	837	917	757	0	0	0	0	0	0	14.40	14.38	14.21
8457	end climb: SURFACE_DEPTH_REACHED
state	8457	begin surface coast
8478	end surface coast: CONTROL_FINISHED_OK
state	8478	begin surface