Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 33 * 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 33 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 27 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 18 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 -21662.449 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 -21662.449

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 27 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 18 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 33 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 300714,085125,7104.323,-14438.954,16,0.8,36,22.3 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 1.82 MHEAD_RNG_PITCHd_Wd 300.7,71837,-21.9,-11.905,-25.13,1887

_SM_ANGLEo -73.0 D_GRID 1000

GPS2 300714,090054,7104.315,-14439.111,4,0.9,25,22.3

Post-dive calculations and measurements:

FINISH 0.8,1.010751 _10V_AH 12.73,0.000

SM_CCo 8383,18.12,0.196,0,0,539,689.05 FG_AHR_24Vo 0.000

SM_GC 2.03,8.38,1.12,18.12,0.109,0.118,0.196,198,2198,539,-7.06,0.57,689.05,0,0,0,0,0,0,14.31,14.31,14.24 FG_AHR_10Vo 0.000

RAFOS_CLK 352 MEM 298468

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 30039,880

IRIDIUM_FIX 7032.78,-14433.90,300714,062418 CAP_FILE_SIZE 131734,0

TT8_MAMPS 0.045689,0.045689 CFSIZE 2097872896,2086010880

HUMID 52.52 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0

INTERNAL_PRESSURE 8.48503 INTR 0,9044.36,0x2378b6,7,5

TCM_TEMP 11.90 SOUNDSPEED 1450.9

XPDR_PINGS 0 EKF 8500,4265.279785,-8680.353516,0.760550,0.236530,0.064394,-0.038891,0.000112,0.001063,0.000099,0.001025,0.001025,0.000050

SC_FREEKB 4013284 CURRENT 0.010,13.51,1

TM_FREEKB 7576608 GPS 300714,112248,7105.341,-14440.307,40,0.9,60,22.3

_24V_AH 13.06,62.164

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 481 144.54 nil 0 0 0.00

Roll_motor 93 148 181.95 nil 0 0 0.00

VBD_pump_during_apogee 632 1562 12893.70 nil 0 0 0.00

VBD_pump_during_surface 18 195 46.36 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 8385 15 1725.41

Iridium_during_xfer 359 182 855.31 TMICL 8412 12 1391.39

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.11

TT8 0 0 0.00

LPSleep 5738 2 168.76

TT8_Active 789 10 110.19

TT8_Sampling 2361 29 892.67

TT8_CF8 82 36 38.39

TT8_Kalman 0 0 0.00

Analog_circuits 1934 10 246.31

GPS_charging 0 0 0.00

Compass 1297 5 82.60

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 -145.9 192 2202 561 522 0.0 0.0 0 95 0.00 0.00 -73.35 0.000 16386 0.000 0.000 192 2202 2446 2446 2446 0 0 0 0 0 0 28.83 28.83 28.83

97 -0.87 -145.9 194 2202 2446 2441 4.6 -5.4 7 139 11.10 2.62 -25.12 0.000 18692 0.481 0.148 2171 3612 3946 4000 3892 0 0 0 0 0 0 14.06 14.24 14.47

363 -0.77 -145.9 2171 3612 4001 3898 77.3 -22.7 58 375 0.20 2.45 0.00 0.000 3078 0.338 0.090 2211 2191 3948 4000 3897 0 0 0 0 0 0 14.22 14.35 28.83

669 -0.77 -145.9 2213 2194 3999 3899 131.3 -15.6 89 677 0.00 2.53 0.00 0.000 260 0.000 0.129 2202 3608 3949 4000 3898 0 0 0 0 0 0 28.83 14.38 28.83

825 -0.75 -145.9 2202 3609 3999 3898 157.6 -17.1 120 835 0.00 2.42 0.00 0.000 1030 0.000 0.090 2202 2200 3949 4001 3898 0 0 0 0 0 0 28.83 14.42 28.83

1131 -0.75 -145.9 2202 2201 4002 3899 200.6 -13.2 151 1139 0.00 2.53 0.00 0.000 260 0.000 0.129 2192 3611 3949 4000 3898 0 0 0 0 0 0 28.83 14.41 28.83

1253 -0.75 -145.9 2189 3612 4000 3898 218.3 -14.5 175 1261 0.15 2.42 0.00 0.000 3078 0.298 0.090 2222 2195 3948 4000 3897 0 0 0 0 0 0 14.36 14.47 28.83

1566 -0.78 -145.9 2222 2195 4001 3898 253.7 -10.8 205 1573 0.00 2.55 0.00 0.000 260 0.000 0.131 2213 3618 3948 4000 3897 0 0 0 0 0 0 28.83 14.45 28.83

1652 -0.78 -145.9 2212 3619 4002 3898 263.9 -12.1 222 1664 0.00 2.42 0.00 0.000 1030 0.000 0.090 2213 2200 3948 4000 3896 0 0 0 0 0 0 28.83 14.49 28.83

1958 -0.81 -145.9 2213 2200 3999 3895 297.7 -11.1 233 1967 0.00 2.53 0.00 0.000 260 0.000 0.130 2202 3614 3947 4000 3895 0 0 0 0 0 0 28.83 14.49 28.83

2045 -0.81 -145.9 2202 3611 4000 3896 308.2 -12.3 250 2056 0.00 2.42 0.00 0.000 1030 0.000 0.090 2202 2191 3947 4000 3895 0 0 0 0 0 0 28.83 14.52 28.83

2351 -0.83 -145.9 2202 2189 4002 3895 342.6 -10.9 261 2359 0.00 2.53 0.00 0.000 260 0.000 0.130 2192 3610 3947 4000 3894 0 0 0 0 0 0 28.83 14.51 28.83

2443 -0.83 -145.9 2193 3611 3999 3895 354.1 -12.7 279 2452 0.00 2.42 0.00 0.000 1030 0.000 0.090 2191 2193 3947 4000 3894 0 0 0 0 0 0 28.83 14.54 28.83

2777 -0.83 -145.9 2192 2194 4001 3894 392.8 -11.6 295 2785 0.00 2.53 0.00 0.000 260 0.000 0.130 2181 3613 3946 4000 3892 0 0 0 0 0 0 28.83 14.52 28.83

2879 -0.83 -145.9 2183 3617 3999 3894 406.3 -13.2 315 2887 0.00 2.40 0.00 0.000 1030 0.000 0.090 2181 2199 3946 4000 3893 0 0 0 0 0 0 28.83 14.54 28.83

3202 -0.83 -145.9 2181 2199 4001 3894 445.7 -12.2 329 3209 0.00 2.50 0.00 0.000 260 0.000 0.129 2171 3611 3946 3999 3894 0 0 0 0 0 0 28.83 14.53 28.83

3293 -0.83 -145.9 2171 3611 4001 3893 458.2 -13.5 347 3301 0.12 2.40 0.00 0.000 3078 0.325 0.090 2195 2198 3944 4000 3889 0 0 0 0 0 0 14.44 14.56 28.83

3626 -0.85 -145.9 2196 2199 3998 3894 495.3 -11.0 363 3633 0.00 2.50 0.00 0.000 260 0.000 0.129 2186 3611 3945 4000 3891 0 0 0 0 0 0 28.83 14.54 28.83

3666 end dive: TARGET_DEPTH_EXCEEDED

state 3666 begin apogee

3670 -0.16 0.0 2186 2794 4002 3894 500.2 -12.1 371 3856 0.90 0.00 180.55 1.430 10246 0.287 0.000 2413 2794 3347 3401 3294 0 0 0 0 0 0 14.44 28.83 13.25

3858 end apogee: CONTROL_FINISHED_OK

state 3858 begin climb

3859 0.87 145.9 2420 2794 3397 3289 505.5 0.0 377 4002 1.10 1.92 125.93 1.562 10500 0.152 0.132 2741 3762 2739 2787 2692 0 0 0 0 0 0 13.80 13.60 13.06

4056 0.76 145.9 2740 3763 2780 2684 487.0 18.0 409 4064 0.10 1.75 0.00 0.000 5126 0.307 0.087 2724 2801 2731 2779 2683 0 0 0 0 0 0 13.75 13.88 28.83

4378 0.70 145.9 2725 2802 2780 2680 438.3 15.0 423 4386 0.12 2.50 0.00 0.000 4612 0.330 0.101 2710 1385 2729 2779 2679 0 0 0 0 0 0 14.09 14.20 28.83

4440 0.66 145.9 2710 1385 2780 2680 429.7 13.4 435 4448 0.00 2.55 0.00 0.000 1030 0.000 0.110 2710 2798 2729 2779 2679 0 0 0 0 0 0 28.83 14.22 28.83

4773 0.61 145.9 2710 2799 2780 2680 381.5 14.6 451 4781 0.15 2.47 0.00 0.000 4612 0.302 0.096 2685 1391 2729 2779 2679 0 0 0 0 0 0 14.26 14.35 28.83

4870 0.61 147.0 2687 1389 2785 2679 369.4 11.8 470 4879 0.00 2.50 0.00 0.000 1030 0.000 0.111 2685 2801 2726 2775 2678 0 0 1 0 0 0 28.83 14.36 28.83

5199 0.58 147.0 2685 2802 2780 2679 326.9 12.8 485 5207 0.00 2.45 0.00 0.000 516 0.000 0.099 2695 1393 2732 2779 2685 0 0 0 0 0 0 28.83 14.43 28.83

5271 0.58 147.4 2697 1393 2778 2679 318.1 11.9 499 5279 0.15 2.53 0.00 0.000 5126 0.313 0.110 2665 2810 2729 2779 2679 0 0 0 0 0 0 14.34 14.44 28.83

5594 0.59 155.9 2665 2811 2780 2679 281.0 11.4 513 5603 0.00 2.55 2.33 0.485 8708 0.000 0.098 2675 1381 2712 2765 2659 0 0 0 0 0 0 28.83 14.47 13.78

5707 0.62 175.3 2674 1386 2781 2667 268.7 10.8 535 5740 0.00 2.53 23.77 1.378 9222 0.000 0.111 2674 2809 2622 2680 2565 0 0 0 0 0 0 28.83 14.47 13.76

6044 0.62 175.3 2674 2810 2674 2550 227.8 12.0 564 6052 0.00 2.47 0.00 0.000 516 0.000 0.098 2685 1393 2611 2673 2549 0 0 0 0 0 0 28.83 14.40 28.83

6146 0.63 183.7 2684 1393 2674 2550 216.1 11.4 584 6155 0.00 2.53 1.50 0.230 9222 0.000 0.110 2684 2808 2598 2661 2536 0 0 0 0 0 0 28.83 14.38 14.37

6459 0.65 205.7 2686 2808 2669 2547 180.1 10.7 616 6494 0.00 2.50 25.95 1.295 8708 0.000 0.099 2695 1394 2496 2561 2431 0 0 0 0 0 0 28.83 14.24 13.76

6588 0.69 237.8 2695 1394 2555 2418 166.7 10.2 640 6623 0.00 2.53 27.48 1.258 9222 0.000 0.109 2695 2802 2377 2448 2307 0 0 0 0 0 0 28.83 14.31 13.65

6927 0.74 278.9 2696 2799 2432 2282 129.8 9.7 676 6969 0.00 2.60 35.92 1.180 8708 0.000 0.100 2705 1387 2201 2277 2126 0 0 0 0 0 0 28.83 14.12 13.69

7073 0.82 314.9 2704 1388 2265 2101 114.6 9.9 703 7115 0.00 2.55 31.40 1.161 9222 0.000 0.111 2704 2793 2054 2141 1967 0 0 0 0 0 0 28.83 14.21 13.60

7420 0.89 352.4 2706 2797 2131 1945 76.4 9.9 740 7443 0.15 2.58 16.35 0.365 10756 0.158 0.101 2765 1389 1911 2002 1821 0 0 0 0 0 0 14.31 14.25 14.12

7587 0.89 352.4 2766 1390 2033 1844 54.2 13.0 772 7596 0.00 2.55 2.90 0.225 9222 0.000 0.112 2766 2805 1910 2001 1820 0 0 0 0 0 0 28.83 14.31 14.23

7901 0.96 408.6 2766 2806 2022 1849 20.6 8.8 804 7939 0.00 2.58 30.35 0.234 8708 0.000 0.101 2777 1386 1680 1773 1588 0 0 0 0 0 0 28.83 14.34 14.28

8163 1.33 655.6 2779 1387 1786 1600 14.3 -1.6 853 8299 0.38 2.53 127.57 0.212 11270 0.116 0.110 2902 2802 674 741 608 0 0 0 0 0 0 14.40 14.38 14.20

8352 end climb: SURFACE_DEPTH_REACHED

state 8352 begin surface coast

8362 end surface coast: CONTROL_FINISHED_OK

state 8362 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	33	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	27	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	18	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	-21662.449	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	300714,085125,7104.323,-14438.954,16,0.8,36,22.3	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	1.82	MHEAD_RNG_PITCHd_Wd	300.7,71837,-21.9,-11.905,-25.13,1887
_SM_ANGLEo	-73.0	D_GRID	1000
GPS2	300714,090054,7104.315,-14439.111,4,0.9,25,22.3

FINISH	0.8,1.010751	_10V_AH	12.73,0.000
SM_CCo	8383,18.12,0.196,0,0,539,689.05	FG_AHR_24Vo	0.000
SM_GC	2.03,8.38,1.12,18.12,0.109,0.118,0.196,198,2198,539,-7.06,0.57,689.05,0,0,0,0,0,0,14.31,14.31,14.24	FG_AHR_10Vo	0.000
RAFOS_CLK	352	MEM	298468
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	30039,880
IRIDIUM_FIX	7032.78,-14433.90,300714,062418	CAP_FILE_SIZE	131734,0
TT8_MAMPS	0.045689,0.045689	CFSIZE	2097872896,2086010880
HUMID	52.52	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
INTERNAL_PRESSURE	8.48503	INTR	0,9044.36,0x2378b6,7,5
TCM_TEMP	11.90	SOUNDSPEED	1450.9
XPDR_PINGS	0	EKF	8500,4265.279785,-8680.353516,0.760550,0.236530,0.064394,-0.038891,0.000112,0.001063,0.000099,0.001025,0.001025,0.000050
SC_FREEKB	4013284	CURRENT	0.010,13.51,1
TM_FREEKB	7576608	GPS	300714,112248,7105.341,-14440.307,40,0.9,60,22.3
_24V_AH	13.06,62.164

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	481	144.54	nil	0	0	0.00
Roll_motor	93	148	181.95	nil	0	0	0.00
VBD_pump_during_apogee	632	1562	12893.70	nil	0	0	0.00
VBD_pump_during_surface	18	195	46.36	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	8385	15	1725.41
Iridium_during_xfer	359	182	855.31	TMICL	8412	12	1391.39
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.11
TT8	0	0	0.00
LPSleep	5738	2	168.76
TT8_Active	789	10	110.19
TT8_Sampling	2361	29	892.67
TT8_CF8	82	36	38.39
TT8_Kalman	0	0	0.00
Analog_circuits	1934	10	246.31
GPS_charging	0	0	0.00
Compass	1297	5	82.60
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	192	2202	561	522	0.0	0.0	0	95	0.00	0.00	-73.35	0.000	16386	0.000	0.000	192	2202	2446	2446	2446	0	0	0	0	0	0	28.83	28.83	28.83
97	-0.87	-145.9	194	2202	2446	2441	4.6	-5.4	7	139	11.10	2.62	-25.12	0.000	18692	0.481	0.148	2171	3612	3946	4000	3892	0	0	0	0	0	0	14.06	14.24	14.47
363	-0.77	-145.9	2171	3612	4001	3898	77.3	-22.7	58	375	0.20	2.45	0.00	0.000	3078	0.338	0.090	2211	2191	3948	4000	3897	0	0	0	0	0	0	14.22	14.35	28.83
669	-0.77	-145.9	2213	2194	3999	3899	131.3	-15.6	89	677	0.00	2.53	0.00	0.000	260	0.000	0.129	2202	3608	3949	4000	3898	0	0	0	0	0	0	28.83	14.38	28.83
825	-0.75	-145.9	2202	3609	3999	3898	157.6	-17.1	120	835	0.00	2.42	0.00	0.000	1030	0.000	0.090	2202	2200	3949	4001	3898	0	0	0	0	0	0	28.83	14.42	28.83
1131	-0.75	-145.9	2202	2201	4002	3899	200.6	-13.2	151	1139	0.00	2.53	0.00	0.000	260	0.000	0.129	2192	3611	3949	4000	3898	0	0	0	0	0	0	28.83	14.41	28.83
1253	-0.75	-145.9	2189	3612	4000	3898	218.3	-14.5	175	1261	0.15	2.42	0.00	0.000	3078	0.298	0.090	2222	2195	3948	4000	3897	0	0	0	0	0	0	14.36	14.47	28.83
1566	-0.78	-145.9	2222	2195	4001	3898	253.7	-10.8	205	1573	0.00	2.55	0.00	0.000	260	0.000	0.131	2213	3618	3948	4000	3897	0	0	0	0	0	0	28.83	14.45	28.83
1652	-0.78	-145.9	2212	3619	4002	3898	263.9	-12.1	222	1664	0.00	2.42	0.00	0.000	1030	0.000	0.090	2213	2200	3948	4000	3896	0	0	0	0	0	0	28.83	14.49	28.83
1958	-0.81	-145.9	2213	2200	3999	3895	297.7	-11.1	233	1967	0.00	2.53	0.00	0.000	260	0.000	0.130	2202	3614	3947	4000	3895	0	0	0	0	0	0	28.83	14.49	28.83
2045	-0.81	-145.9	2202	3611	4000	3896	308.2	-12.3	250	2056	0.00	2.42	0.00	0.000	1030	0.000	0.090	2202	2191	3947	4000	3895	0	0	0	0	0	0	28.83	14.52	28.83
2351	-0.83	-145.9	2202	2189	4002	3895	342.6	-10.9	261	2359	0.00	2.53	0.00	0.000	260	0.000	0.130	2192	3610	3947	4000	3894	0	0	0	0	0	0	28.83	14.51	28.83
2443	-0.83	-145.9	2193	3611	3999	3895	354.1	-12.7	279	2452	0.00	2.42	0.00	0.000	1030	0.000	0.090	2191	2193	3947	4000	3894	0	0	0	0	0	0	28.83	14.54	28.83
2777	-0.83	-145.9	2192	2194	4001	3894	392.8	-11.6	295	2785	0.00	2.53	0.00	0.000	260	0.000	0.130	2181	3613	3946	4000	3892	0	0	0	0	0	0	28.83	14.52	28.83
2879	-0.83	-145.9	2183	3617	3999	3894	406.3	-13.2	315	2887	0.00	2.40	0.00	0.000	1030	0.000	0.090	2181	2199	3946	4000	3893	0	0	0	0	0	0	28.83	14.54	28.83
3202	-0.83	-145.9	2181	2199	4001	3894	445.7	-12.2	329	3209	0.00	2.50	0.00	0.000	260	0.000	0.129	2171	3611	3946	3999	3894	0	0	0	0	0	0	28.83	14.53	28.83
3293	-0.83	-145.9	2171	3611	4001	3893	458.2	-13.5	347	3301	0.12	2.40	0.00	0.000	3078	0.325	0.090	2195	2198	3944	4000	3889	0	0	0	0	0	0	14.44	14.56	28.83
3626	-0.85	-145.9	2196	2199	3998	3894	495.3	-11.0	363	3633	0.00	2.50	0.00	0.000	260	0.000	0.129	2186	3611	3945	4000	3891	0	0	0	0	0	0	28.83	14.54	28.83
3666	end dive: TARGET_DEPTH_EXCEEDED
state	3666	begin apogee
3670	-0.16	0.0	2186	2794	4002	3894	500.2	-12.1	371	3856	0.90	0.00	180.55	1.430	10246	0.287	0.000	2413	2794	3347	3401	3294	0	0	0	0	0	0	14.44	28.83	13.25
3858	end apogee: CONTROL_FINISHED_OK
state	3858	begin climb
3859	0.87	145.9	2420	2794	3397	3289	505.5	0.0	377	4002	1.10	1.92	125.93	1.562	10500	0.152	0.132	2741	3762	2739	2787	2692	0	0	0	0	0	0	13.80	13.60	13.06
4056	0.76	145.9	2740	3763	2780	2684	487.0	18.0	409	4064	0.10	1.75	0.00	0.000	5126	0.307	0.087	2724	2801	2731	2779	2683	0	0	0	0	0	0	13.75	13.88	28.83
4378	0.70	145.9	2725	2802	2780	2680	438.3	15.0	423	4386	0.12	2.50	0.00	0.000	4612	0.330	0.101	2710	1385	2729	2779	2679	0	0	0	0	0	0	14.09	14.20	28.83
4440	0.66	145.9	2710	1385	2780	2680	429.7	13.4	435	4448	0.00	2.55	0.00	0.000	1030	0.000	0.110	2710	2798	2729	2779	2679	0	0	0	0	0	0	28.83	14.22	28.83
4773	0.61	145.9	2710	2799	2780	2680	381.5	14.6	451	4781	0.15	2.47	0.00	0.000	4612	0.302	0.096	2685	1391	2729	2779	2679	0	0	0	0	0	0	14.26	14.35	28.83
4870	0.61	147.0	2687	1389	2785	2679	369.4	11.8	470	4879	0.00	2.50	0.00	0.000	1030	0.000	0.111	2685	2801	2726	2775	2678	0	0	1	0	0	0	28.83	14.36	28.83
5199	0.58	147.0	2685	2802	2780	2679	326.9	12.8	485	5207	0.00	2.45	0.00	0.000	516	0.000	0.099	2695	1393	2732	2779	2685	0	0	0	0	0	0	28.83	14.43	28.83
5271	0.58	147.4	2697	1393	2778	2679	318.1	11.9	499	5279	0.15	2.53	0.00	0.000	5126	0.313	0.110	2665	2810	2729	2779	2679	0	0	0	0	0	0	14.34	14.44	28.83
5594	0.59	155.9	2665	2811	2780	2679	281.0	11.4	513	5603	0.00	2.55	2.33	0.485	8708	0.000	0.098	2675	1381	2712	2765	2659	0	0	0	0	0	0	28.83	14.47	13.78
5707	0.62	175.3	2674	1386	2781	2667	268.7	10.8	535	5740	0.00	2.53	23.77	1.378	9222	0.000	0.111	2674	2809	2622	2680	2565	0	0	0	0	0	0	28.83	14.47	13.76
6044	0.62	175.3	2674	2810	2674	2550	227.8	12.0	564	6052	0.00	2.47	0.00	0.000	516	0.000	0.098	2685	1393	2611	2673	2549	0	0	0	0	0	0	28.83	14.40	28.83
6146	0.63	183.7	2684	1393	2674	2550	216.1	11.4	584	6155	0.00	2.53	1.50	0.230	9222	0.000	0.110	2684	2808	2598	2661	2536	0	0	0	0	0	0	28.83	14.38	14.37
6459	0.65	205.7	2686	2808	2669	2547	180.1	10.7	616	6494	0.00	2.50	25.95	1.295	8708	0.000	0.099	2695	1394	2496	2561	2431	0	0	0	0	0	0	28.83	14.24	13.76
6588	0.69	237.8	2695	1394	2555	2418	166.7	10.2	640	6623	0.00	2.53	27.48	1.258	9222	0.000	0.109	2695	2802	2377	2448	2307	0	0	0	0	0	0	28.83	14.31	13.65
6927	0.74	278.9	2696	2799	2432	2282	129.8	9.7	676	6969	0.00	2.60	35.92	1.180	8708	0.000	0.100	2705	1387	2201	2277	2126	0	0	0	0	0	0	28.83	14.12	13.69
7073	0.82	314.9	2704	1388	2265	2101	114.6	9.9	703	7115	0.00	2.55	31.40	1.161	9222	0.000	0.111	2704	2793	2054	2141	1967	0	0	0	0	0	0	28.83	14.21	13.60
7420	0.89	352.4	2706	2797	2131	1945	76.4	9.9	740	7443	0.15	2.58	16.35	0.365	10756	0.158	0.101	2765	1389	1911	2002	1821	0	0	0	0	0	0	14.31	14.25	14.12
7587	0.89	352.4	2766	1390	2033	1844	54.2	13.0	772	7596	0.00	2.55	2.90	0.225	9222	0.000	0.112	2766	2805	1910	2001	1820	0	0	0	0	0	0	28.83	14.31	14.23
7901	0.96	408.6	2766	2806	2022	1849	20.6	8.8	804	7939	0.00	2.58	30.35	0.234	8708	0.000	0.101	2777	1386	1680	1773	1588	0	0	0	0	0	0	28.83	14.34	14.28
8163	1.33	655.6	2779	1387	1786	1600	14.3	-1.6	853	8299	0.38	2.53	127.57	0.212	11270	0.116	0.110	2902	2802	674	741	608	0	0	0	0	0	0	14.40	14.38	14.20
8352	end climb: SURFACE_DEPTH_REACHED
state	8352	begin surface coast
8362	end surface coast: CONTROL_FINISHED_OK
state	8362	begin surface