Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 32 * 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 32 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 21 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 -21661.193 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 -21661.193

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 21 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 32 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 300714,062053,7103.428,-14437.289,38,0.8,58,22.3 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 1.77 MHEAD_RNG_PITCHd_Wd 295.3,73854,-21.9,-11.905,-25.13,1887

_SM_ANGLEo -71.5 D_GRID 1000

GPS2 300714,063008,7103.391,-14437.277,15,0.7,35,22.3

Post-dive calculations and measurements:

FINISH 0.8,1.019724 _10V_AH 12.66,0.000

SM_CCo 8351,35.72,0.185,0,0,538,689.05 FG_AHR_24Vo 0.000

SM_GC 2.09,8.25,1.50,35.72,0.099,0.116,0.185,202,2199,538,-7.06,-0.74,689.05,0,0,0,0,0,0,14.34,14.32,14.26 FG_AHR_10Vo 0.000

RAFOS_CLK 130 MEM 298920

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 26723,805

IRIDIUM_FIX 7026.32,-14432.35,300714,035056 CAP_FILE_SIZE 129867,0

TT8_MAMPS 0.047187,0.047187 CFSIZE 2097872896,2086305792

HUMID 52.95 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0

INTERNAL_PRESSURE 8.47526 INTR 0,9205.31,0x2378b6,7,5

TCM_TEMP 11.90 SOUNDSPEED 1450.4

XPDR_PINGS 0 EKF 8462,4264.315430,-8679.090820,0.839638,0.258346,-0.085747,-0.087023,0.000133,0.001264,0.000095,0.001525,0.001525,0.000034

SC_FREEKB 4013380 CURRENT 0.011,102.49,1

TM_FREEKB 7589984 GPS 300714,085125,7104.323,-14438.954,16,0.8,36,22.3

_24V_AH 12.86,61.851

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 472 138.32 nil 0 0 0.00

Roll_motor 94 149 181.25 nil 0 0 0.00

VBD_pump_during_apogee 564 2102 15256.41 nil 0 0 0.00

VBD_pump_during_surface 35 185 85.05 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 8353 15 1672.74

Iridium_during_xfer 332 189 811.84 TMICL 8379 12 1362.55

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 20 9.78

TT8 0 0 0.00

LPSleep 5872 2 171.75

TT8_Active 761 10 105.72

TT8_Sampling 2228 29 837.93

TT8_CF8 81 36 37.48

TT8_Kalman 0 0 0.00

Analog_circuits 1830 10 231.75

GPS_charging 0 0 0.00

Compass 1188 5 75.25

RAFOS 1480 48 899.37

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 -145.9 192 2191 569 517 0.0 0.0 0 94 0.00 0.00 -72.68 0.000 16386 0.000 0.000 192 2191 2403 2407 2399 0 0 0 0 0 0 28.83 28.83 28.83

96 -0.87 -145.9 192 2192 2410 2400 4.1 -4.9 7 146 10.90 2.65 -27.42 0.000 18692 0.473 0.150 2171 3612 3947 4002 3893 0 0 0 0 0 0 14.08 14.24 14.47

370 -0.78 -145.9 2171 3613 4004 3900 78.3 -23.7 59 380 0.17 2.45 0.00 0.000 3078 0.330 0.093 2210 2197 3950 4002 3899 0 0 0 0 0 0 14.20 14.33 28.83

675 -0.78 -145.9 2210 2199 4004 3900 132.4 -16.2 90 683 0.00 2.53 0.00 0.000 260 0.000 0.130 2201 3609 3950 4002 3899 0 0 0 0 0 0 28.83 14.38 28.83

782 -0.75 -145.9 2203 3610 4003 3900 151.0 -17.4 111 791 0.00 2.45 0.00 0.000 1030 0.000 0.091 2201 2188 3950 4002 3899 0 0 0 0 0 0 28.83 14.43 28.83

1087 -0.75 -145.9 2201 2188 4003 3906 195.4 -13.6 142 1095 0.00 2.58 0.00 0.000 260 0.000 0.129 2190 3617 3950 4002 3899 0 0 0 0 0 0 28.83 14.43 28.83

1144 -0.75 -145.9 2190 3617 4004 3900 203.5 -14.2 153 1155 0.15 2.45 0.00 0.000 3078 0.306 0.090 2221 2188 3950 4001 3899 0 0 0 0 0 0 14.35 14.46 28.83

1450 -0.78 -145.9 2222 2189 4002 3899 238.7 -11.0 184 1458 0.00 2.53 0.00 0.000 260 0.000 0.130 2211 3619 3950 4002 3899 0 0 0 0 0 0 28.83 14.42 28.83

1502 -0.78 -145.9 2212 3620 4002 3899 245.1 -12.1 194 1510 0.00 2.45 0.00 0.000 1030 0.000 0.089 2211 2191 3950 4002 3899 0 0 0 0 0 0 28.83 14.46 28.83

1815 -0.80 -145.9 2212 2191 4002 3898 280.9 -11.2 208 1823 0.00 2.55 0.00 0.000 260 0.000 0.130 2200 3617 3949 4002 3897 0 0 0 0 0 0 28.83 14.48 28.83

1872 -0.80 -145.9 2199 3618 4004 3898 288.1 -12.8 219 1881 0.00 2.42 0.00 0.000 1030 0.000 0.089 2200 2197 3949 4002 3897 0 0 0 0 0 0 28.83 14.50 28.83

2177 -0.80 -145.9 2200 2199 4003 3897 324.5 -11.8 230 2185 0.00 2.53 0.00 0.000 260 0.000 0.129 2189 3615 3948 4002 3895 0 0 0 0 0 0 28.83 14.50 28.83

2239 -0.80 -145.9 2190 3615 4004 3896 332.5 -12.8 242 2247 0.00 2.40 0.00 0.000 1030 0.000 0.090 2189 2203 3948 4002 3895 0 0 0 0 0 0 28.83 14.53 28.83

2572 -0.80 -145.9 2190 2202 4003 3896 371.7 -11.4 258 2575 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2202 3948 4002 3895 0 0 0 0 0 0 28.83 28.83 28.83

2872 -0.80 -145.9 2189 2203 4004 3896 406.5 -11.6 268 2880 0.00 2.53 0.00 0.000 260 0.000 0.129 2180 3619 3948 4002 3894 0 0 0 0 0 0 28.83 14.54 28.83

2969 -0.80 -145.9 2181 3620 4002 3895 419.2 -12.9 287 2977 0.12 2.42 0.00 0.000 3078 0.316 0.090 2203 2200 3948 4003 3894 0 0 0 0 0 0 14.45 14.56 28.83

3296 -0.82 -145.9 2204 2200 4002 3895 455.3 -11.0 302 3304 0.00 2.53 0.00 0.000 260 0.000 0.129 2193 3616 3948 4002 3894 0 0 0 0 0 0 28.83 14.54 28.83

3363 -0.82 -145.9 2190 3617 4002 3894 463.3 -12.1 315 3371 0.00 2.40 0.00 0.000 1030 0.000 0.090 2194 2199 3948 4002 3894 0 0 0 0 0 0 28.83 14.57 28.83

3690 end dive: TARGET_DEPTH_EXCEEDED

state 3690 begin apogee

3693 -0.16 0.0 2190 2804 4002 3894 500.7 -11.2 330 3836 0.88 0.00 132.50 2.103 10246 0.291 0.000 2410 2803 3349 3401 3297 0 0 0 0 1 0 14.45 28.83 12.86

3837 end apogee: CONTROL_FINISHED_OK

state 3837 begin climb

3838 0.87 145.9 2411 2803 3408 3301 504.5 0.0 334 3987 1.12 1.88 130.75 1.694 10500 0.155 0.130 2735 3761 2744 2789 2699 0 0 0 0 0 0 13.73 13.56 12.97

4092 0.76 145.9 2737 3761 2787 2689 478.7 17.7 377 4101 0.15 1.70 0.00 0.000 5126 0.320 0.088 2719 2795 2737 2786 2688 0 0 0 0 0 0 13.82 13.95 28.83

4420 0.70 145.9 2719 2795 2786 2688 430.7 14.3 392 4428 0.00 2.47 0.00 0.000 516 0.000 0.100 2728 1396 2736 2786 2687 0 0 0 0 0 0 28.83 14.21 28.83

4457 0.66 145.9 2728 1396 2785 2688 425.6 13.8 399 4465 0.20 2.55 0.00 0.000 5126 0.304 0.109 2687 2806 2736 2785 2687 0 0 0 0 0 0 14.13 14.22 28.83

4784 0.63 145.9 2686 2807 2787 2688 383.7 12.8 414 4792 0.00 2.47 0.00 0.000 516 0.000 0.097 2695 1395 2736 2786 2687 0 0 0 0 0 0 28.83 14.34 28.83

4861 0.63 145.9 2695 1396 2787 2688 374.3 12.2 429 4871 0.00 2.53 0.00 0.000 1030 0.000 0.110 2695 2801 2736 2786 2687 0 0 0 0 0 0 28.83 14.35 28.83

5180 0.59 145.9 2695 2805 2787 2688 332.7 13.0 442 5189 0.12 2.45 0.00 0.000 4612 0.307 0.096 2676 1395 2736 2786 2687 0 0 0 0 0 0 14.33 14.42 28.83

5223 0.60 155.9 2678 1396 2785 2687 327.7 11.4 450 5232 0.00 2.50 2.95 0.798 9222 0.000 0.110 2676 2802 2712 2765 2659 0 0 0 0 0 0 28.83 14.42 13.71

5546 0.59 161.1 2677 2803 2783 2673 289.8 11.6 464 5562 0.00 2.55 10.40 1.345 8708 0.000 0.098 2686 1395 2689 2744 2634 0 0 0 0 0 0 28.83 14.33 13.79

5626 0.59 161.1 2688 1396 2740 2626 280.5 12.1 479 5634 0.00 2.53 0.00 0.000 1030 0.000 0.110 2686 2802 2683 2740 2626 0 0 0 0 0 0 28.83 14.33 28.83

5933 0.56 161.1 2684 2802 2742 2626 242.0 12.4 495 5941 0.15 2.47 0.00 0.000 4612 0.311 0.098 2666 1390 2682 2740 2625 0 0 0 0 0 0 14.28 14.38 28.83

6000 0.60 188.9 2662 1392 2742 2625 234.8 10.4 508 6036 0.00 2.53 25.88 1.345 9222 0.000 0.110 2666 2807 2568 2629 2507 0 0 0 0 0 0 28.83 14.37 13.67

6330 0.62 207.6 2667 2807 2624 2496 197.5 10.9 543 6353 0.00 2.60 15.98 1.270 8708 0.000 0.099 2676 1389 2492 2558 2426 0 0 0 0 0 0 28.83 14.17 13.71

6432 0.69 244.1 2676 1389 2554 2417 186.8 9.9 562 6473 0.00 2.55 32.35 1.219 9222 0.000 0.110 2676 2801 2344 2412 2276 0 0 0 0 0 0 28.83 14.22 13.61

6777 0.76 283.8 2675 2801 2406 2259 148.9 9.7 599 6820 0.12 2.60 33.92 1.174 10756 0.173 0.100 2725 1395 2182 2259 2106 0 0 0 0 0 0 14.27 14.06 13.63

6909 0.76 283.8 2726 1398 2251 2090 132.7 12.3 623 6917 0.00 2.55 0.00 0.000 1030 0.000 0.111 2725 2802 2170 2251 2089 0 0 0 0 0 0 28.83 14.16 28.83

7221 0.77 295.6 2726 2802 2250 2088 95.4 11.3 655 7230 0.00 2.55 3.22 0.226 8708 0.000 0.099 2735 1395 2145 2226 2065 0 0 0 0 0 0 28.83 14.32 14.21

7285 0.82 334.7 2734 1396 2244 2081 88.8 9.8 667 7314 0.00 2.53 23.40 0.419 9222 0.000 0.110 2735 2802 1982 2071 1894 0 0 0 0 0 0 28.83 14.33 14.12

7608 0.83 343.2 2736 2803 2086 1917 50.7 11.4 701 7625 0.00 2.50 6.70 0.290 8708 0.000 0.101 2745 1395 1949 2039 1860 0 0 0 0 0 0 28.83 14.31 14.23

7774 0.92 391.6 2745 1396 2059 1879 35.3 9.3 733 7811 0.00 2.53 26.62 0.274 9222 0.000 0.112 2745 2806 1750 1840 1660 0 0 0 0 0 0 28.83 14.40 14.25

8115 1.28 621.6 2746 2807 1847 1675 15.4 -0.6 769 8245 0.40 2.53 119.45 0.214 10756 0.120 0.100 2895 1388 810 889 732 0 0 0 0 0 0 14.42 14.27 14.21

8318 end climb: SURFACE_DEPTH_REACHED

state 8318 begin surface coast

8328 end surface coast: CONTROL_FINISHED_OK

state 8329 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	32	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	21	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	-21661.193	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	300714,062053,7103.428,-14437.289,38,0.8,58,22.3	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	1.77	MHEAD_RNG_PITCHd_Wd	295.3,73854,-21.9,-11.905,-25.13,1887
_SM_ANGLEo	-71.5	D_GRID	1000
GPS2	300714,063008,7103.391,-14437.277,15,0.7,35,22.3

FINISH	0.8,1.019724	_10V_AH	12.66,0.000
SM_CCo	8351,35.72,0.185,0,0,538,689.05	FG_AHR_24Vo	0.000
SM_GC	2.09,8.25,1.50,35.72,0.099,0.116,0.185,202,2199,538,-7.06,-0.74,689.05,0,0,0,0,0,0,14.34,14.32,14.26	FG_AHR_10Vo	0.000
RAFOS_CLK	130	MEM	298920
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	26723,805
IRIDIUM_FIX	7026.32,-14432.35,300714,035056	CAP_FILE_SIZE	129867,0
TT8_MAMPS	0.047187,0.047187	CFSIZE	2097872896,2086305792
HUMID	52.95	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
INTERNAL_PRESSURE	8.47526	INTR	0,9205.31,0x2378b6,7,5
TCM_TEMP	11.90	SOUNDSPEED	1450.4
XPDR_PINGS	0	EKF	8462,4264.315430,-8679.090820,0.839638,0.258346,-0.085747,-0.087023,0.000133,0.001264,0.000095,0.001525,0.001525,0.000034
SC_FREEKB	4013380	CURRENT	0.011,102.49,1
TM_FREEKB	7589984	GPS	300714,085125,7104.323,-14438.954,16,0.8,36,22.3
_24V_AH	12.86,61.851

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	472	138.32	nil	0	0	0.00
Roll_motor	94	149	181.25	nil	0	0	0.00
VBD_pump_during_apogee	564	2102	15256.41	nil	0	0	0.00
VBD_pump_during_surface	35	185	85.05	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	8353	15	1672.74
Iridium_during_xfer	332	189	811.84	TMICL	8379	12	1362.55
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	20	9.78
TT8	0	0	0.00
LPSleep	5872	2	171.75
TT8_Active	761	10	105.72
TT8_Sampling	2228	29	837.93
TT8_CF8	81	36	37.48
TT8_Kalman	0	0	0.00
Analog_circuits	1830	10	231.75
GPS_charging	0	0	0.00
Compass	1188	5	75.25
RAFOS	1480	48	899.37
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	192	2191	569	517	0.0	0.0	0	94	0.00	0.00	-72.68	0.000	16386	0.000	0.000	192	2191	2403	2407	2399	0	0	0	0	0	0	28.83	28.83	28.83
96	-0.87	-145.9	192	2192	2410	2400	4.1	-4.9	7	146	10.90	2.65	-27.42	0.000	18692	0.473	0.150	2171	3612	3947	4002	3893	0	0	0	0	0	0	14.08	14.24	14.47
370	-0.78	-145.9	2171	3613	4004	3900	78.3	-23.7	59	380	0.17	2.45	0.00	0.000	3078	0.330	0.093	2210	2197	3950	4002	3899	0	0	0	0	0	0	14.20	14.33	28.83
675	-0.78	-145.9	2210	2199	4004	3900	132.4	-16.2	90	683	0.00	2.53	0.00	0.000	260	0.000	0.130	2201	3609	3950	4002	3899	0	0	0	0	0	0	28.83	14.38	28.83
782	-0.75	-145.9	2203	3610	4003	3900	151.0	-17.4	111	791	0.00	2.45	0.00	0.000	1030	0.000	0.091	2201	2188	3950	4002	3899	0	0	0	0	0	0	28.83	14.43	28.83
1087	-0.75	-145.9	2201	2188	4003	3906	195.4	-13.6	142	1095	0.00	2.58	0.00	0.000	260	0.000	0.129	2190	3617	3950	4002	3899	0	0	0	0	0	0	28.83	14.43	28.83
1144	-0.75	-145.9	2190	3617	4004	3900	203.5	-14.2	153	1155	0.15	2.45	0.00	0.000	3078	0.306	0.090	2221	2188	3950	4001	3899	0	0	0	0	0	0	14.35	14.46	28.83
1450	-0.78	-145.9	2222	2189	4002	3899	238.7	-11.0	184	1458	0.00	2.53	0.00	0.000	260	0.000	0.130	2211	3619	3950	4002	3899	0	0	0	0	0	0	28.83	14.42	28.83
1502	-0.78	-145.9	2212	3620	4002	3899	245.1	-12.1	194	1510	0.00	2.45	0.00	0.000	1030	0.000	0.089	2211	2191	3950	4002	3899	0	0	0	0	0	0	28.83	14.46	28.83
1815	-0.80	-145.9	2212	2191	4002	3898	280.9	-11.2	208	1823	0.00	2.55	0.00	0.000	260	0.000	0.130	2200	3617	3949	4002	3897	0	0	0	0	0	0	28.83	14.48	28.83
1872	-0.80	-145.9	2199	3618	4004	3898	288.1	-12.8	219	1881	0.00	2.42	0.00	0.000	1030	0.000	0.089	2200	2197	3949	4002	3897	0	0	0	0	0	0	28.83	14.50	28.83
2177	-0.80	-145.9	2200	2199	4003	3897	324.5	-11.8	230	2185	0.00	2.53	0.00	0.000	260	0.000	0.129	2189	3615	3948	4002	3895	0	0	0	0	0	0	28.83	14.50	28.83
2239	-0.80	-145.9	2190	3615	4004	3896	332.5	-12.8	242	2247	0.00	2.40	0.00	0.000	1030	0.000	0.090	2189	2203	3948	4002	3895	0	0	0	0	0	0	28.83	14.53	28.83
2572	-0.80	-145.9	2190	2202	4003	3896	371.7	-11.4	258	2575	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2202	3948	4002	3895	0	0	0	0	0	0	28.83	28.83	28.83
2872	-0.80	-145.9	2189	2203	4004	3896	406.5	-11.6	268	2880	0.00	2.53	0.00	0.000	260	0.000	0.129	2180	3619	3948	4002	3894	0	0	0	0	0	0	28.83	14.54	28.83
2969	-0.80	-145.9	2181	3620	4002	3895	419.2	-12.9	287	2977	0.12	2.42	0.00	0.000	3078	0.316	0.090	2203	2200	3948	4003	3894	0	0	0	0	0	0	14.45	14.56	28.83
3296	-0.82	-145.9	2204	2200	4002	3895	455.3	-11.0	302	3304	0.00	2.53	0.00	0.000	260	0.000	0.129	2193	3616	3948	4002	3894	0	0	0	0	0	0	28.83	14.54	28.83
3363	-0.82	-145.9	2190	3617	4002	3894	463.3	-12.1	315	3371	0.00	2.40	0.00	0.000	1030	0.000	0.090	2194	2199	3948	4002	3894	0	0	0	0	0	0	28.83	14.57	28.83
3690	end dive: TARGET_DEPTH_EXCEEDED
state	3690	begin apogee
3693	-0.16	0.0	2190	2804	4002	3894	500.7	-11.2	330	3836	0.88	0.00	132.50	2.103	10246	0.291	0.000	2410	2803	3349	3401	3297	0	0	0	0	1	0	14.45	28.83	12.86
3837	end apogee: CONTROL_FINISHED_OK
state	3837	begin climb
3838	0.87	145.9	2411	2803	3408	3301	504.5	0.0	334	3987	1.12	1.88	130.75	1.694	10500	0.155	0.130	2735	3761	2744	2789	2699	0	0	0	0	0	0	13.73	13.56	12.97
4092	0.76	145.9	2737	3761	2787	2689	478.7	17.7	377	4101	0.15	1.70	0.00	0.000	5126	0.320	0.088	2719	2795	2737	2786	2688	0	0	0	0	0	0	13.82	13.95	28.83
4420	0.70	145.9	2719	2795	2786	2688	430.7	14.3	392	4428	0.00	2.47	0.00	0.000	516	0.000	0.100	2728	1396	2736	2786	2687	0	0	0	0	0	0	28.83	14.21	28.83
4457	0.66	145.9	2728	1396	2785	2688	425.6	13.8	399	4465	0.20	2.55	0.00	0.000	5126	0.304	0.109	2687	2806	2736	2785	2687	0	0	0	0	0	0	14.13	14.22	28.83
4784	0.63	145.9	2686	2807	2787	2688	383.7	12.8	414	4792	0.00	2.47	0.00	0.000	516	0.000	0.097	2695	1395	2736	2786	2687	0	0	0	0	0	0	28.83	14.34	28.83
4861	0.63	145.9	2695	1396	2787	2688	374.3	12.2	429	4871	0.00	2.53	0.00	0.000	1030	0.000	0.110	2695	2801	2736	2786	2687	0	0	0	0	0	0	28.83	14.35	28.83
5180	0.59	145.9	2695	2805	2787	2688	332.7	13.0	442	5189	0.12	2.45	0.00	0.000	4612	0.307	0.096	2676	1395	2736	2786	2687	0	0	0	0	0	0	14.33	14.42	28.83
5223	0.60	155.9	2678	1396	2785	2687	327.7	11.4	450	5232	0.00	2.50	2.95	0.798	9222	0.000	0.110	2676	2802	2712	2765	2659	0	0	0	0	0	0	28.83	14.42	13.71
5546	0.59	161.1	2677	2803	2783	2673	289.8	11.6	464	5562	0.00	2.55	10.40	1.345	8708	0.000	0.098	2686	1395	2689	2744	2634	0	0	0	0	0	0	28.83	14.33	13.79
5626	0.59	161.1	2688	1396	2740	2626	280.5	12.1	479	5634	0.00	2.53	0.00	0.000	1030	0.000	0.110	2686	2802	2683	2740	2626	0	0	0	0	0	0	28.83	14.33	28.83
5933	0.56	161.1	2684	2802	2742	2626	242.0	12.4	495	5941	0.15	2.47	0.00	0.000	4612	0.311	0.098	2666	1390	2682	2740	2625	0	0	0	0	0	0	14.28	14.38	28.83
6000	0.60	188.9	2662	1392	2742	2625	234.8	10.4	508	6036	0.00	2.53	25.88	1.345	9222	0.000	0.110	2666	2807	2568	2629	2507	0	0	0	0	0	0	28.83	14.37	13.67
6330	0.62	207.6	2667	2807	2624	2496	197.5	10.9	543	6353	0.00	2.60	15.98	1.270	8708	0.000	0.099	2676	1389	2492	2558	2426	0	0	0	0	0	0	28.83	14.17	13.71
6432	0.69	244.1	2676	1389	2554	2417	186.8	9.9	562	6473	0.00	2.55	32.35	1.219	9222	0.000	0.110	2676	2801	2344	2412	2276	0	0	0	0	0	0	28.83	14.22	13.61
6777	0.76	283.8	2675	2801	2406	2259	148.9	9.7	599	6820	0.12	2.60	33.92	1.174	10756	0.173	0.100	2725	1395	2182	2259	2106	0	0	0	0	0	0	14.27	14.06	13.63
6909	0.76	283.8	2726	1398	2251	2090	132.7	12.3	623	6917	0.00	2.55	0.00	0.000	1030	0.000	0.111	2725	2802	2170	2251	2089	0	0	0	0	0	0	28.83	14.16	28.83
7221	0.77	295.6	2726	2802	2250	2088	95.4	11.3	655	7230	0.00	2.55	3.22	0.226	8708	0.000	0.099	2735	1395	2145	2226	2065	0	0	0	0	0	0	28.83	14.32	14.21
7285	0.82	334.7	2734	1396	2244	2081	88.8	9.8	667	7314	0.00	2.53	23.40	0.419	9222	0.000	0.110	2735	2802	1982	2071	1894	0	0	0	0	0	0	28.83	14.33	14.12
7608	0.83	343.2	2736	2803	2086	1917	50.7	11.4	701	7625	0.00	2.50	6.70	0.290	8708	0.000	0.101	2745	1395	1949	2039	1860	0	0	0	0	0	0	28.83	14.31	14.23
7774	0.92	391.6	2745	1396	2059	1879	35.3	9.3	733	7811	0.00	2.53	26.62	0.274	9222	0.000	0.112	2745	2806	1750	1840	1660	0	0	0	0	0	0	28.83	14.40	14.25
8115	1.28	621.6	2746	2807	1847	1675	15.4	-0.6	769	8245	0.40	2.53	119.45	0.214	10756	0.120	0.100	2895	1388	810	889	732	0	0	0	0	0	0	14.42	14.27	14.21
8318	end climb: SURFACE_DEPTH_REACHED
state	8318	begin surface coast
8328	end surface coast: CONTROL_FINISHED_OK
state	8329	begin surface