Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 63 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 ESCAPE_HEADING 0 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 63 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 18 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 688.85968 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.6

D_ABORT 800 N_FILEKB 8 ROLL_MAXERRORS 2 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 3230 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 0.001 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 215 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 250 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 2 PHONE_DEVICE 49

T_NO_W 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -21700.432 PITCH_W_GAIN 4 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0.5 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 2435 FG_AHR_24V 0 SEABIRD_C_G -9.7531748

MAX_BUOY 180 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 35.5 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 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 2360 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 750 PITCH_GAIN 35.5 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 0.001 TGT_DEFAULT_LAT 4736

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -12218

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 4 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 215

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 -21700.432

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 250

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 360

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 2435 LOGGERDEVICE4 -1 ROLL_MAX 3771 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 3 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2360 MASS 54269 ROLL_MIN 218 UNCOM_BLEED 60

C_VBD 3230 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 180 R_PORT_OVSHOOT 28 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 63 N_FILEKB 8 SEABIRD_C_J 0.00019379995 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 800 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 2

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 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 030814,165654,7134.913,-14545.422,40,1.0,60,22.0 SPEED_LIMITS 0.139,0.275

_CALLS 2 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.03 MHEAD_RNG_PITCHd_Wd 290.6,3336,-26.2,-11.628,-29.10,1329

_SM_ANGLEo -69.6 D_GRID 1000

GPS2 030814,170954,7134.899,-14545.482,5,0.8,25,22.0

Post-dive calculations and measurements:

FINISH 1.1,1.018148 _10V_AH 12.65,0.000

SM_CCo 10212,0.03,2.784,0,0,498,669.67 FG_AHR_24Vo 0.000

SM_GC 2.13,8.23,0.43,0.03,0.103,0.107,2.784,196,2370,498,-6.95,1.05,669.67,0,0,0,0,0,0,14.33,14.35,13.90 FG_AHR_10Vo 0.000

RAFOS_CLK 9 MEM 284028

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 23411,704

IRIDIUM_FIX 7058.96,-14548.41,030814,131958 CAP_FILE_SIZE 123948,0

TT8_MAMPS 0.08239,0.08239 CFSIZE 2097872896,2077556736

HUMID 51.41 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.4655 INTR 0,13407.36,0x2378b6,7,5

TCM_TEMP 11.90 SOUNDSPEED 1450.5

XPDR_PINGS 0 EKF 10288,4295.820801,-8749.061523,1.074841,-0.237335,0.108755,0.017113,0.000230,0.002308,0.000100,0.002425,0.002425,0.000066

SC_FREEKB 4009876 CURRENT 0.062,307.17,1

TM_FREEKB 7020544 GPS 030814,200145,7136.010,-14549.905,19,0.9,39,22.0

_24V_AH 12.40,73.280

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 487 132.18 nil 0 0 0.00

Roll_motor 42 132 69.70 nil 0 0 0.00

VBD_pump_during_apogee 575 1999 14274.05 nil 0 0 0.00

VBD_pump_during_surface 49 2783 1700.95 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 10165 12 1621.08

Iridium_during_xfer 462 192 1105.47 TMICL 10215 12 1603.72

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.19

TT8 0 0 0.00

LPSleep 7947 2 232.23

TT8_Active 747 10 103.74

TT8_Sampling 2188 29 822.19

TT8_CF8 111 36 51.62

TT8_Kalman 0 0 0.00

Analog_circuits 1861 10 235.50

GPS_charging 0 0 0.00

Compass 1050 5 66.47

RAFOS 1498 48 909.59

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 -0.84 -100.3 192 2361 520 486 0.0 0.0 0 94 0.00 0.00 -72.50 0.000 16386 0.000 0.000 192 2361 2289 2295 2284 0 0 0 0 0 0 28.83 28.83 28.83

96 -0.91 -175.1 193 2362 2295 2285 3.9 -3.8 7 146 11.02 2.53 -31.25 0.000 18948 0.487 0.114 2135 953 3947 4002 3893 0 0 0 0 0 0 14.04 14.26 14.47

300 -0.91 -175.1 2135 954 4004 3898 60.6 -23.8 45 309 0.00 2.50 0.00 0.000 1030 0.000 0.102 2127 2360 3949 4002 3897 0 0 0 0 0 0 28.83 14.31 28.83

613 -0.91 -175.1 2133 2361 4002 3898 135.5 -23.2 77 622 0.00 2.42 0.00 0.000 516 0.000 0.092 2126 955 3950 4002 3898 0 0 0 0 0 0 28.83 14.39 28.83

661 -0.91 -175.1 2127 956 4004 3899 146.4 -21.8 86 671 0.00 2.50 0.00 0.000 1030 0.000 0.103 2117 2364 3949 4003 3896 0 0 0 0 0 0 28.83 14.36 28.83

967 -0.91 -175.1 2118 2365 4002 3898 209.3 -19.3 117 969 0.00 0.00 0.00 0.000 6 0.000 0.000 2116 2364 3950 4002 3898 0 0 0 0 0 0 28.83 28.83 28.83

1287 -0.91 -175.1 2117 2365 4004 3899 266.9 -17.1 143 1289 0.00 0.00 0.00 0.000 6 0.000 0.000 2116 2364 3950 4002 3898 0 0 0 0 0 0 28.83 28.83 28.83

1587 -0.91 -175.1 2118 2365 4002 3898 317.1 -16.6 153 1589 0.00 0.00 0.00 0.000 6 0.000 0.000 2117 2364 3950 4002 3898 0 0 0 0 0 0 28.83 28.83 28.83

1886 -0.91 -175.1 2118 2365 4002 3898 366.4 -16.3 163 1889 0.00 0.00 0.00 0.000 6 0.000 0.000 2117 2364 3949 4002 3897 0 0 0 0 0 0 28.83 28.83 28.83

2187 -0.91 -175.1 2114 2365 4004 3898 415.4 -16.3 173 2189 0.00 0.00 0.00 0.000 6 0.000 0.000 2117 2364 3950 4003 3898 0 0 0 0 0 0 28.83 28.83 28.83

2486 -0.91 -175.1 2118 2364 4002 3898 462.8 -15.5 183 2489 0.00 0.00 0.00 0.000 6 0.000 0.000 2121 2364 3950 4002 3898 0 0 0 0 0 0 28.83 28.83 28.83

2787 -0.91 -175.1 2117 2365 4004 3898 509.2 -15.5 193 2790 0.00 0.00 0.00 0.000 6 0.000 0.000 2117 2364 3950 4003 3898 0 0 0 0 0 0 28.83 28.83 28.83

3087 -0.91 -175.1 2118 2365 4002 3898 555.2 -15.4 203 3089 0.00 0.00 0.00 0.000 6 0.000 0.000 2117 2364 3950 4002 3898 0 0 0 0 0 0 28.83 28.83 28.83

3387 -0.91 -175.1 2118 2365 4002 3898 600.9 -15.1 213 3389 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2364 3950 4002 3898 0 0 0 0 0 0 28.83 28.83 28.83

3686 -0.91 -175.1 2117 2365 4004 3898 646.1 -15.0 223 3689 0.00 0.00 0.00 0.000 6 0.000 0.000 2117 2364 3950 4002 3898 0 0 0 0 0 0 28.83 28.83 28.83

3987 -0.91 -175.1 2117 2365 4002 3898 690.5 -14.7 233 3996 0.00 2.42 0.00 0.000 516 0.000 0.093 2117 949 3950 4002 3898 0 0 0 0 0 0 28.83 14.59 28.83

4040 -0.91 -175.1 2117 950 4004 3898 698.4 -14.6 243 4048 0.15 2.47 0.00 0.000 3078 0.332 0.104 2134 2362 3950 4002 3898 0 0 0 0 0 0 14.45 14.57 28.83

4353 -0.91 -175.1 2136 2363 4001 3898 741.5 -13.8 255 4355 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2363 3950 4002 3899 0 0 0 0 0 0 28.83 28.83 28.83

4441 end dive: TARGET_DEPTH_EXCEEDED

state 4441 begin apogee

4444 -0.14 0.0 2134 2610 4004 3898 753.9 -13.8 258 4673 1.00 0.00 223.82 1.701 10246 0.308 0.000 2382 2609 3231 3286 3176 0 0 0 0 0 0 14.46 28.83 13.03

4675 end apogee: CONTROL_FINISHED_OK

state 4675 begin climb

4677 0.91 175.1 2382 2610 3282 3173 760.6 0.0 265 4851 1.20 2.33 156.02 2.000 10500 0.174 0.125 2721 3760 2503 2566 2441 0 0 0 0 0 0 13.66 13.11 12.40

4940 0.91 175.1 2720 3761 2563 2432 725.5 19.9 309 4950 0.00 2.12 0.00 0.000 1030 0.000 0.081 2729 2590 2496 2561 2432 0 0 0 0 0 0 28.83 13.57 28.83

5264 0.91 175.1 2731 2590 2560 2431 668.3 17.5 323 5267 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2590 2495 2561 2430 0 0 0 0 0 0 28.83 28.83 28.83

5564 0.91 175.1 2731 2590 2561 2431 616.0 17.4 333 5566 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2589 2496 2562 2430 0 0 0 0 0 0 28.83 28.83 28.83

5864 0.91 175.1 2728 2587 2563 2431 563.4 17.5 343 5867 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2590 2495 2561 2429 0 0 0 0 0 0 28.83 28.83 28.83

6164 0.91 175.1 2727 2590 2563 2431 512.0 17.1 353 6174 0.00 2.12 0.00 0.000 260 0.000 0.130 2730 3766 2495 2561 2430 0 0 0 0 0 0 28.83 14.38 28.83

6198 0.91 175.1 2729 3766 2562 2431 505.6 18.3 359 6205 0.00 2.00 0.00 0.000 1030 0.000 0.086 2739 2596 2498 2562 2434 0 0 0 0 0 0 28.83 14.43 28.83

6530 0.91 175.1 2740 2595 2561 2430 447.6 17.3 375 6533 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2596 2495 2561 2430 0 0 0 0 0 0 28.83 28.83 28.83

6830 0.91 175.1 2744 2596 2561 2430 395.0 17.6 385 6839 0.00 2.10 0.00 0.000 260 0.000 0.130 2738 3767 2494 2558 2430 0 0 0 0 0 0 28.83 14.47 28.83

6853 0.91 175.1 2739 3766 2561 2430 390.5 18.8 389 6862 0.00 2.00 0.00 0.000 1030 0.000 0.087 2747 2590 2495 2561 2430 0 0 0 0 0 0 28.83 14.51 28.83

7167 0.91 175.1 2746 2591 2563 2436 334.6 17.7 401 7170 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2590 2495 2561 2430 0 0 0 0 0 0 28.83 28.83 28.83

7466 0.91 175.1 2747 2591 2564 2430 281.0 17.9 411 7474 0.00 2.12 0.00 0.000 260 0.000 0.130 2747 3775 2496 2562 2430 0 0 0 0 0 0 28.83 14.52 28.83

7523 0.91 175.1 2747 3775 2563 2430 269.8 20.4 422 7532 0.00 2.00 0.00 0.000 1030 0.000 0.087 2756 2592 2495 2562 2429 0 0 0 0 0 0 28.83 14.54 28.83

7828 0.91 175.1 2758 2593 2561 2430 217.0 15.6 445 7832 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2593 2497 2565 2430 0 0 0 0 0 0 28.83 28.83 28.83

8128 0.91 175.1 2757 2593 2561 2430 173.8 13.1 475 8131 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2592 2495 2561 2430 0 0 0 0 0 0 28.83 28.83 28.83

8428 0.94 175.1 2756 2593 2563 2431 137.9 10.9 505 8431 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2598 2495 2561 2429 0 0 0 0 0 0 28.83 28.83 28.83

8728 1.02 175.1 2758 2593 2561 2430 106.8 9.8 535 8731 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2593 2495 2561 2429 0 0 0 0 0 0 28.83 28.83 28.83

9028 1.05 210.0 2755 2593 2563 2430 79.4 8.9 565 9052 0.00 0.00 14.98 0.386 8198 0.000 0.000 2756 2592 2377 2446 2309 0 0 0 0 0 0 28.83 28.83 14.28

9348 1.10 258.4 2758 2593 2461 2324 49.7 7.9 597 9385 0.00 2.42 25.80 0.314 8708 0.000 0.093 2766 1195 2178 2254 2102 0 0 0 0 0 0 28.83 14.40 14.30

9504 1.17 324.7 2766 1196 2273 2111 39.0 6.5 626 9546 0.15 2.50 33.80 0.282 11270 0.155 0.106 2817 2600 1904 1989 1820 0 0 0 0 0 0 14.42 14.40 14.27

9850 1.31 470.6 2817 2601 2004 1830 14.2 0.3 663 9932 0.12 2.53 70.72 0.213 10756 0.165 0.093 2871 1191 1312 1408 1216 0 0 0 0 0 0 14.44 14.33 14.28

9986 1.41 571.3 2872 1193 1410 1217 9.9 3.8 686 10049 0.00 2.50 50.50 0.201 9222 0.000 0.103 2871 2600 896 978 814 0 0 0 0 0 0 28.83 14.35 14.23

10112 end climb: SURFACE_DEPTH_REACHED

state 10112 begin surface coast

10137 end surface coast: CONTROL_FINISHED_OK

state 10137 begin surface

ID	199	ESCAPE_HEADING	0	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	63	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	18	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	688.85968	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.6
D_ABORT	800	N_FILEKB	8	ROLL_MAXERRORS	2	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	3230	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	0.001	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	215	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	250	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	2	PHONE_DEVICE	49
T_NO_W	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-21700.432	PITCH_W_GAIN	4	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0.5	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	2435	FG_AHR_24V	0	SEABIRD_C_G	-9.7531748
MAX_BUOY	180	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	35.5	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	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	2360	ALTIM_PING_DELTA	5

GPS1	030814,165654,7134.913,-14545.422,40,1.0,60,22.0	SPEED_LIMITS	0.139,0.275
_CALLS	2	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.03	MHEAD_RNG_PITCHd_Wd	290.6,3336,-26.2,-11.628,-29.10,1329
_SM_ANGLEo	-69.6	D_GRID	1000
GPS2	030814,170954,7134.899,-14545.482,5,0.8,25,22.0

FINISH	1.1,1.018148	_10V_AH	12.65,0.000
SM_CCo	10212,0.03,2.784,0,0,498,669.67	FG_AHR_24Vo	0.000
SM_GC	2.13,8.23,0.43,0.03,0.103,0.107,2.784,196,2370,498,-6.95,1.05,669.67,0,0,0,0,0,0,14.33,14.35,13.90	FG_AHR_10Vo	0.000
RAFOS_CLK	9	MEM	284028
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	23411,704
IRIDIUM_FIX	7058.96,-14548.41,030814,131958	CAP_FILE_SIZE	123948,0
TT8_MAMPS	0.08239,0.08239	CFSIZE	2097872896,2077556736
HUMID	51.41	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.4655	INTR	0,13407.36,0x2378b6,7,5
TCM_TEMP	11.90	SOUNDSPEED	1450.5
XPDR_PINGS	0	EKF	10288,4295.820801,-8749.061523,1.074841,-0.237335,0.108755,0.017113,0.000230,0.002308,0.000100,0.002425,0.002425,0.000066
SC_FREEKB	4009876	CURRENT	0.062,307.17,1
TM_FREEKB	7020544	GPS	030814,200145,7136.010,-14549.905,19,0.9,39,22.0
_24V_AH	12.40,73.280

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	487	132.18	nil	0	0	0.00
Roll_motor	42	132	69.70	nil	0	0	0.00
VBD_pump_during_apogee	575	1999	14274.05	nil	0	0	0.00
VBD_pump_during_surface	49	2783	1700.95	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	10165	12	1621.08
Iridium_during_xfer	462	192	1105.47	TMICL	10215	12	1603.72
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.19
TT8	0	0	0.00
LPSleep	7947	2	232.23
TT8_Active	747	10	103.74
TT8_Sampling	2188	29	822.19
TT8_CF8	111	36	51.62
TT8_Kalman	0	0	0.00
Analog_circuits	1861	10	235.50
GPS_charging	0	0	0.00
Compass	1050	5	66.47
RAFOS	1498	48	909.59
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	-0.84	-100.3	192	2361	520	486	0.0	0.0	0	94	0.00	0.00	-72.50	0.000	16386	0.000	0.000	192	2361	2289	2295	2284	0	0	0	0	0	0	28.83	28.83	28.83
96	-0.91	-175.1	193	2362	2295	2285	3.9	-3.8	7	146	11.02	2.53	-31.25	0.000	18948	0.487	0.114	2135	953	3947	4002	3893	0	0	0	0	0	0	14.04	14.26	14.47
300	-0.91	-175.1	2135	954	4004	3898	60.6	-23.8	45	309	0.00	2.50	0.00	0.000	1030	0.000	0.102	2127	2360	3949	4002	3897	0	0	0	0	0	0	28.83	14.31	28.83
613	-0.91	-175.1	2133	2361	4002	3898	135.5	-23.2	77	622	0.00	2.42	0.00	0.000	516	0.000	0.092	2126	955	3950	4002	3898	0	0	0	0	0	0	28.83	14.39	28.83
661	-0.91	-175.1	2127	956	4004	3899	146.4	-21.8	86	671	0.00	2.50	0.00	0.000	1030	0.000	0.103	2117	2364	3949	4003	3896	0	0	0	0	0	0	28.83	14.36	28.83
967	-0.91	-175.1	2118	2365	4002	3898	209.3	-19.3	117	969	0.00	0.00	0.00	0.000	6	0.000	0.000	2116	2364	3950	4002	3898	0	0	0	0	0	0	28.83	28.83	28.83
1287	-0.91	-175.1	2117	2365	4004	3899	266.9	-17.1	143	1289	0.00	0.00	0.00	0.000	6	0.000	0.000	2116	2364	3950	4002	3898	0	0	0	0	0	0	28.83	28.83	28.83
1587	-0.91	-175.1	2118	2365	4002	3898	317.1	-16.6	153	1589	0.00	0.00	0.00	0.000	6	0.000	0.000	2117	2364	3950	4002	3898	0	0	0	0	0	0	28.83	28.83	28.83
1886	-0.91	-175.1	2118	2365	4002	3898	366.4	-16.3	163	1889	0.00	0.00	0.00	0.000	6	0.000	0.000	2117	2364	3949	4002	3897	0	0	0	0	0	0	28.83	28.83	28.83
2187	-0.91	-175.1	2114	2365	4004	3898	415.4	-16.3	173	2189	0.00	0.00	0.00	0.000	6	0.000	0.000	2117	2364	3950	4003	3898	0	0	0	0	0	0	28.83	28.83	28.83
2486	-0.91	-175.1	2118	2364	4002	3898	462.8	-15.5	183	2489	0.00	0.00	0.00	0.000	6	0.000	0.000	2121	2364	3950	4002	3898	0	0	0	0	0	0	28.83	28.83	28.83
2787	-0.91	-175.1	2117	2365	4004	3898	509.2	-15.5	193	2790	0.00	0.00	0.00	0.000	6	0.000	0.000	2117	2364	3950	4003	3898	0	0	0	0	0	0	28.83	28.83	28.83
3087	-0.91	-175.1	2118	2365	4002	3898	555.2	-15.4	203	3089	0.00	0.00	0.00	0.000	6	0.000	0.000	2117	2364	3950	4002	3898	0	0	0	0	0	0	28.83	28.83	28.83
3387	-0.91	-175.1	2118	2365	4002	3898	600.9	-15.1	213	3389	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2364	3950	4002	3898	0	0	0	0	0	0	28.83	28.83	28.83
3686	-0.91	-175.1	2117	2365	4004	3898	646.1	-15.0	223	3689	0.00	0.00	0.00	0.000	6	0.000	0.000	2117	2364	3950	4002	3898	0	0	0	0	0	0	28.83	28.83	28.83
3987	-0.91	-175.1	2117	2365	4002	3898	690.5	-14.7	233	3996	0.00	2.42	0.00	0.000	516	0.000	0.093	2117	949	3950	4002	3898	0	0	0	0	0	0	28.83	14.59	28.83
4040	-0.91	-175.1	2117	950	4004	3898	698.4	-14.6	243	4048	0.15	2.47	0.00	0.000	3078	0.332	0.104	2134	2362	3950	4002	3898	0	0	0	0	0	0	14.45	14.57	28.83
4353	-0.91	-175.1	2136	2363	4001	3898	741.5	-13.8	255	4355	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2363	3950	4002	3899	0	0	0	0	0	0	28.83	28.83	28.83
4441	end dive: TARGET_DEPTH_EXCEEDED
state	4441	begin apogee
4444	-0.14	0.0	2134	2610	4004	3898	753.9	-13.8	258	4673	1.00	0.00	223.82	1.701	10246	0.308	0.000	2382	2609	3231	3286	3176	0	0	0	0	0	0	14.46	28.83	13.03
4675	end apogee: CONTROL_FINISHED_OK
state	4675	begin climb
4677	0.91	175.1	2382	2610	3282	3173	760.6	0.0	265	4851	1.20	2.33	156.02	2.000	10500	0.174	0.125	2721	3760	2503	2566	2441	0	0	0	0	0	0	13.66	13.11	12.40
4940	0.91	175.1	2720	3761	2563	2432	725.5	19.9	309	4950	0.00	2.12	0.00	0.000	1030	0.000	0.081	2729	2590	2496	2561	2432	0	0	0	0	0	0	28.83	13.57	28.83
5264	0.91	175.1	2731	2590	2560	2431	668.3	17.5	323	5267	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	2590	2495	2561	2430	0	0	0	0	0	0	28.83	28.83	28.83
5564	0.91	175.1	2731	2590	2561	2431	616.0	17.4	333	5566	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	2589	2496	2562	2430	0	0	0	0	0	0	28.83	28.83	28.83
5864	0.91	175.1	2728	2587	2563	2431	563.4	17.5	343	5867	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	2590	2495	2561	2429	0	0	0	0	0	0	28.83	28.83	28.83
6164	0.91	175.1	2727	2590	2563	2431	512.0	17.1	353	6174	0.00	2.12	0.00	0.000	260	0.000	0.130	2730	3766	2495	2561	2430	0	0	0	0	0	0	28.83	14.38	28.83
6198	0.91	175.1	2729	3766	2562	2431	505.6	18.3	359	6205	0.00	2.00	0.00	0.000	1030	0.000	0.086	2739	2596	2498	2562	2434	0	0	0	0	0	0	28.83	14.43	28.83
6530	0.91	175.1	2740	2595	2561	2430	447.6	17.3	375	6533	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2596	2495	2561	2430	0	0	0	0	0	0	28.83	28.83	28.83
6830	0.91	175.1	2744	2596	2561	2430	395.0	17.6	385	6839	0.00	2.10	0.00	0.000	260	0.000	0.130	2738	3767	2494	2558	2430	0	0	0	0	0	0	28.83	14.47	28.83
6853	0.91	175.1	2739	3766	2561	2430	390.5	18.8	389	6862	0.00	2.00	0.00	0.000	1030	0.000	0.087	2747	2590	2495	2561	2430	0	0	0	0	0	0	28.83	14.51	28.83
7167	0.91	175.1	2746	2591	2563	2436	334.6	17.7	401	7170	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2590	2495	2561	2430	0	0	0	0	0	0	28.83	28.83	28.83
7466	0.91	175.1	2747	2591	2564	2430	281.0	17.9	411	7474	0.00	2.12	0.00	0.000	260	0.000	0.130	2747	3775	2496	2562	2430	0	0	0	0	0	0	28.83	14.52	28.83
7523	0.91	175.1	2747	3775	2563	2430	269.8	20.4	422	7532	0.00	2.00	0.00	0.000	1030	0.000	0.087	2756	2592	2495	2562	2429	0	0	0	0	0	0	28.83	14.54	28.83
7828	0.91	175.1	2758	2593	2561	2430	217.0	15.6	445	7832	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2593	2497	2565	2430	0	0	0	0	0	0	28.83	28.83	28.83
8128	0.91	175.1	2757	2593	2561	2430	173.8	13.1	475	8131	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2592	2495	2561	2430	0	0	0	0	0	0	28.83	28.83	28.83
8428	0.94	175.1	2756	2593	2563	2431	137.9	10.9	505	8431	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2598	2495	2561	2429	0	0	0	0	0	0	28.83	28.83	28.83
8728	1.02	175.1	2758	2593	2561	2430	106.8	9.8	535	8731	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2593	2495	2561	2429	0	0	0	0	0	0	28.83	28.83	28.83
9028	1.05	210.0	2755	2593	2563	2430	79.4	8.9	565	9052	0.00	0.00	14.98	0.386	8198	0.000	0.000	2756	2592	2377	2446	2309	0	0	0	0	0	0	28.83	28.83	14.28
9348	1.10	258.4	2758	2593	2461	2324	49.7	7.9	597	9385	0.00	2.42	25.80	0.314	8708	0.000	0.093	2766	1195	2178	2254	2102	0	0	0	0	0	0	28.83	14.40	14.30
9504	1.17	324.7	2766	1196	2273	2111	39.0	6.5	626	9546	0.15	2.50	33.80	0.282	11270	0.155	0.106	2817	2600	1904	1989	1820	0	0	0	0	0	0	14.42	14.40	14.27
9850	1.31	470.6	2817	2601	2004	1830	14.2	0.3	663	9932	0.12	2.53	70.72	0.213	10756	0.165	0.093	2871	1191	1312	1408	1216	0	0	0	0	0	0	14.44	14.33	14.28
9986	1.41	571.3	2872	1193	1410	1217	9.9	3.8	686	10049	0.00	2.50	50.50	0.201	9222	0.000	0.103	2871	2600	896	978	814	0	0	0	0	0	0	28.83	14.35	14.23
10112	end climb: SURFACE_DEPTH_REACHED
state	10112	begin surface coast
10137	end surface coast: CONTROL_FINISHED_OK
state	10137	begin surface