Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 ESCAPE_HEADING 0 C_ROLL_CLIMB 3050 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 21 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 35 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 12 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 648.87579 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.44999999

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 3186 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 140 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 180 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 COMPASS_DEVICE 97

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -3347.4841 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 0 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0043931045

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00063259818

T_WATCHDOG 10 PITCH_MIN 212 MINV_10V 11 SEABIRD_T_I 2.5708419e-05

RELAUNCH 1 PITCH_MAX 3894 FG_AHR_10V 0 SEABIRD_T_J 3.1590957e-06

APOGEE_PITCH -5 C_PITCH 2630 FG_AHR_24V 0 SEABIRD_C_G -9.8238754

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1280942

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -84.212708 SEABIRD_C_I -0.0016420757

GLIDE_SLOPE 35 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001160319 SEABIRD_C_J 0.00020143802

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 37 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54305 PITCH_TIMEOUT 20 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 0.0023000001 ROLL_MIN 200 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.014 ROLL_MAX 3790 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 1e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2800 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 500 PITCH_GAIN 37 SURFACE_URGENCY_FORCE 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3894 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 212 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 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 35 PRESSURE_SLOPE 0.0001160319 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -84.212708 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0023000001 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.014 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 1e-06 P_OVSHOOT_WITHG 0 T_ABORT 1440

CALL_NDIVES 1 HEADING -1 RAFOS_CORR_THRESH 60 T_BOOST 4

CALL_TRIES 5 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 140

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 0 T_GPS 5

CAPUPLOAD 0 ID 198 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -3347.4841

COMM_SEQ 0 INT_PRESSURE_YINT -0.44999999 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 2630 LOGGERDEVICE4 -1 ROLL_MAX 3790 T_TURN_SAMPINT -5

C_ROLL_CLIMB 3050 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2800 MASS 54305 ROLL_MIN 200 UNCOM_BLEED 60

C_VBD 3186 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 35 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 12 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 -9.8238754 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1280942 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0016420757 VBD_MIN 500

DIVE 21 N_FILEKB 8 SEABIRD_C_J 0.00020143802 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 N_GPS -20 SEABIRD_T_G 0.0043931045 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00063259818 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.5708419e-05 W_ADJ_DBAND 0

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.1590957e-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 648.87579

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 290714,075043,7055.944,-14428.714,20,0.9,40,22.3 SPEED_LIMITS 0.170,0.235

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.84 MHEAD_RNG_PITCHd_Wd 338.3,75047,-21.9,-11.905,-26.85,1887

_SM_ANGLEo -72.4 D_GRID 1000

GPS2 290714,080149,7055.903,-14428.557,4,0.8,24,22.3

Post-dive calculations and measurements:

FINISH 0.9,1.010083 _10V_AH 12.61,0.000

SM_CCo 8880,15.05,0.197,0,0,539,649.06 FG_AHR_24Vo 0.000

SM_GC 2.42,8.50,0.45,15.05,0.109,0.096,0.197,213,2793,539,-7.51,0.76,649.06,0,0,0,0,0,0,14.42,14.42,14.34 FG_AHR_10Vo 0.000

RAFOS_CLK 559 MEM 303340

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 33354,950

IRIDIUM_FIX 7026.32,-14425.45,290714,051110 CAP_FILE_SIZE 138504,0

TT8_MAMPS 0.046438,0.046438 CFSIZE 2097872896,2088828928

HUMID 51.45 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.58355 INTR 0,9854.99,0x2378b6,7,5

TCM_TEMP 12.40 SOUNDSPEED 1449.7

XPDR_PINGS 0 EKF 8991,4256.750000,-8669.484375,0.872277,-0.020117,0.112730,-0.006084,0.000118,0.001104,0.000095,0.000525,0.000525,0.000034

SC_FREEKB 4010976 CURRENT 0.058,146.05,1

TM_FREEKB 7711616 GPS 290714,103154,7056.513,-14428.974,37,0.9,57,22.3

_24V_AH 12.63,7.442

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 468 136.74 nil 0 0 0.00

Roll_motor 64 142 115.60 nil 0 0 0.00

VBD_pump_during_apogee 592 2710 20279.21 nil 0 0 0.00

VBD_pump_during_surface 15 197 37.52 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 8886 15 1754.38

Iridium_during_xfer 425 195 1053.38 TMICL 8938 13 1509.19

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 0 0.25

TT8 0 0 0.00

LPSleep 6174 2 179.87

TT8_Active 690 8 75.98

TT8_Sampling 2621 28 932.24

TT8_CF8 76 35 34.43

TT8_Kalman 0 0 0.00

Analog_circuits 1966 10 247.98

GPS_charging 0 0 0.00

Compass 1398 0 13.23

RAFOS 1283 48 776.57

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 -0.69 -145.9 206 2797 465 541 0.0 0.0 0 80 0.00 0.00 -59.00 0.000 16386 0.000 0.000 206 2796 1986 2023 1950 0 0 0 0 0 0 28.83 28.83 28.83

82 -0.69 -145.9 206 2798 2025 1950 4.0 -4.7 6 138 11.62 2.42 -35.12 0.000 18948 0.468 0.112 2397 1399 3783 3885 3682 0 0 0 0 0 0 14.09 14.28 14.50

362 -0.67 -145.9 2398 1399 3878 3694 56.1 -17.4 59 371 0.00 2.55 0.00 0.000 1030 0.000 0.122 2388 2806 3785 3877 3694 0 0 0 0 0 0 28.83 14.32 28.83

667 -0.67 -145.9 2389 2807 3878 3696 106.2 -15.8 90 675 0.00 2.42 0.00 0.000 516 0.000 0.087 2388 1395 3786 3877 3695 0 0 0 0 0 0 28.83 14.40 28.83

858 -0.67 -145.9 2389 1395 3879 3696 132.0 -13.3 128 868 0.00 2.55 0.00 0.000 1030 0.000 0.124 2387 2806 3785 3877 3694 0 0 0 0 0 0 28.83 14.39 28.83

1172 -0.67 -145.9 2388 2807 3876 3696 173.5 -12.3 160 1182 0.00 2.42 0.00 0.000 516 0.000 0.089 2387 1393 3785 3875 3695 0 0 0 0 0 0 28.83 14.44 28.83

1241 -0.70 -145.9 2388 1392 3876 3695 181.3 -11.2 173 1250 0.00 2.55 0.00 0.000 1030 0.000 0.125 2387 2799 3784 3874 3695 0 0 0 0 0 0 28.83 14.38 28.83

1546 -0.73 -145.9 2388 2799 3875 3695 214.8 -10.6 204 1549 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2796 3784 3874 3695 0 0 0 0 0 0 28.83 28.83 28.83

1846 -0.76 -145.9 2388 2799 3873 3695 245.0 -9.8 234 1849 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2799 3783 3872 3695 0 0 0 0 0 0 28.83 28.83 28.83

2166 -0.80 -145.9 2388 2800 3871 3696 275.9 -9.5 248 2176 0.00 2.40 0.00 0.000 516 0.000 0.090 2384 1388 3782 3870 3695 0 0 0 0 0 0 28.83 14.57 28.83

2230 -0.85 -145.9 2388 1389 3871 3696 281.6 -8.9 260 2240 0.00 2.55 0.00 0.000 1030 0.000 0.126 2387 2806 3782 3870 3695 0 0 0 0 0 0 28.83 14.54 28.83

2564 -0.89 -145.9 2388 2808 3870 3696 312.0 -9.1 276 2567 0.15 0.00 0.00 0.000 4102 0.143 0.000 2328 2805 3781 3869 3694 0 0 0 0 0 0 14.61 28.83 28.83

2864 -0.89 -145.9 2329 2806 3870 3695 347.2 -11.9 286 2872 0.00 2.40 0.00 0.000 516 0.000 0.090 2328 1397 3782 3869 3695 0 0 0 0 0 0 28.83 14.62 28.83

2951 -0.89 -145.9 2329 1397 3869 3697 357.1 -10.7 303 2960 0.00 2.50 0.00 0.000 1030 0.000 0.122 2318 2798 3782 3869 3695 0 0 0 0 0 0 28.83 14.56 28.83

3256 -0.89 -145.9 2318 2799 3869 3695 394.5 -12.3 314 3264 0.00 2.38 0.00 0.000 516 0.000 0.088 2318 1398 3779 3864 3695 0 0 0 0 0 0 28.83 14.62 28.83

3297 -0.89 -145.9 2320 1399 3869 3697 399.6 -12.0 322 3306 0.12 2.50 0.00 0.000 3078 0.334 0.122 2333 2806 3781 3868 3695 0 0 0 0 0 0 14.51 14.60 28.83

3620 -0.89 -145.9 2334 2807 3869 3695 436.1 -11.3 336 3623 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2804 3781 3868 3695 0 0 0 0 0 0 28.83 28.83 28.83

3920 -0.89 -145.9 2334 2804 3869 3695 470.3 -11.3 346 3928 0.00 2.38 0.00 0.000 516 0.000 0.088 2333 1397 3781 3868 3695 0 0 0 0 0 0 28.83 14.65 28.83

4012 -0.89 -145.9 2334 1397 3869 3692 480.4 -10.8 364 4022 0.00 2.50 0.00 0.000 1030 0.000 0.124 2333 2799 3779 3865 3694 0 0 0 0 0 0 28.83 14.62 28.83

4195 end dive: TARGET_DEPTH_EXCEEDED

state 4195 begin apogee

4198 -0.14 0.0 2335 3062 3869 3696 500.9 -11.1 375 4343 0.95 0.00 133.48 2.710 10246 0.292 0.000 2579 3061 3186 3265 3108 0 0 0 0 1 0 14.53 28.83 12.63

4344 end apogee: CONTROL_FINISHED_OK

state 4344 begin climb

4345 0.69 145.9 2580 3061 3282 3109 504.0 0.0 379 4488 0.93 1.48 130.02 1.525 10500 0.168 0.130 2848 3793 2584 2648 2520 0 0 0 0 0 0 13.70 13.60 13.15

4713 0.62 145.9 2848 3793 2636 2509 458.0 17.1 445 4720 0.00 1.33 0.00 0.000 1030 0.000 0.084 2853 3051 2571 2635 2508 0 0 0 0 0 0 28.83 14.12 28.83

5045 0.56 145.9 2854 3052 2636 2509 407.3 15.2 461 5052 0.12 1.35 0.00 0.000 4356 0.329 0.126 2824 3790 2571 2635 2508 0 0 0 0 0 0 14.18 14.28 28.83

5276 0.51 145.9 2825 3787 2636 2504 371.9 15.9 507 5284 0.10 1.27 0.00 0.000 5126 0.290 0.088 2799 3060 2573 2635 2511 0 0 0 0 0 0 14.28 14.41 28.83

5589 0.51 145.9 2804 3061 2636 2509 332.5 12.4 519 5596 0.00 1.35 0.00 0.000 260 0.000 0.134 2803 3784 2571 2635 2507 0 0 0 0 0 0 28.83 14.43 28.83

5820 0.47 145.9 2804 3785 2636 2509 301.0 13.0 565 5828 0.00 1.27 0.00 0.000 1030 0.000 0.089 2808 3045 2569 2630 2508 0 0 0 0 0 0 28.83 14.52 28.83

6133 0.47 145.9 2809 3049 2636 2508 262.7 12.3 577 6140 0.00 1.38 0.00 0.000 260 0.000 0.135 2808 3788 2571 2635 2507 0 0 0 0 0 0 28.83 14.50 28.83

6364 0.43 145.9 2809 3789 2636 2508 231.6 13.2 623 6372 0.12 1.27 0.00 0.000 5126 0.293 0.089 2779 3052 2571 2635 2508 0 0 0 0 0 0 14.43 14.54 28.83

6676 0.46 190.7 2780 3051 2637 2508 200.6 9.5 655 6720 0.00 1.42 38.58 1.196 8452 0.000 0.135 2779 3788 2401 2467 2335 0 0 0 0 0 0 28.83 14.28 13.90

6829 0.47 201.0 2779 3795 2453 2322 184.6 11.3 683 6838 0.00 1.27 4.32 0.920 9222 0.000 0.089 2784 3057 2366 2433 2300 0 0 0 0 0 0 28.83 14.40 13.85

7142 0.54 258.9 2785 3060 2442 2301 156.6 8.8 715 7211 0.00 2.47 58.08 1.053 8708 0.000 0.086 2794 1637 2114 2176 2053 0 0 0 0 0 0 28.83 14.18 13.78

7291 0.65 317.2 2794 1637 2167 2046 143.5 8.7 741 7352 0.15 2.58 52.28 1.001 11270 0.140 0.121 2853 3054 1887 1946 1829 0 0 0 0 0 0 14.31 14.26 13.72

7656 0.65 317.2 2853 3055 1920 1810 96.0 12.6 781 7664 0.00 1.38 0.00 0.000 260 0.000 0.134 2853 3786 1864 1919 1809 0 0 0 0 0 0 28.83 14.33 28.83

7738 0.65 317.2 2853 3785 1920 1807 85.2 13.2 797 7745 0.00 1.30 0.00 0.000 1030 0.000 0.089 2857 3048 1862 1919 1806 0 0 0 0 0 0 28.83 14.40 28.83

8050 0.71 365.9 2858 3050 1920 1808 49.3 9.3 829 8083 0.00 1.42 25.35 0.309 8452 0.000 0.138 2857 3787 1699 1761 1637 0 0 0 0 0 0 28.83 14.39 14.28

8142 0.76 391.9 2863 3788 1787 1637 39.9 10.5 845 8165 0.00 1.27 17.35 0.291 9222 0.000 0.091 2860 3055 1589 1647 1531 0 0 0 0 0 0 28.83 14.45 14.28

8459 0.92 523.5 2861 3057 1680 1532 13.4 4.7 878 8543 0.17 2.50 75.47 0.219 10756 0.143 0.089 2939 1642 1051 1079 1023 0 0 0 0 0 0 14.47 14.38 14.31

8767 1.14 689.6 2939 1641 1098 1024 4.3 2.9 935 8831 0.17 2.55 57.47 0.196 11266 0.148 0.125 2999 3056 635 606 665 0 0 0 0 0 0 14.44 14.42 28.83

8832 end climb: SURFACE_DEPTH_REACHED

state 8832 begin surface coast

8859 end surface coast: CONTROL_FINISHED_OK

state 8859 begin surface

ID	198	ESCAPE_HEADING	0	C_ROLL_CLIMB	3050	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	21	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	35	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	12	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	648.87579	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.44999999
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	3186	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	140	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	180	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	COMPASS_DEVICE	97
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-3347.4841	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	0	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0043931045
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00063259818
T_WATCHDOG	10	PITCH_MIN	212	MINV_10V	11	SEABIRD_T_I	2.5708419e-05
RELAUNCH	1	PITCH_MAX	3894	FG_AHR_10V	0	SEABIRD_T_J	3.1590957e-06
APOGEE_PITCH	-5	C_PITCH	2630	FG_AHR_24V	0	SEABIRD_C_G	-9.8238754
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1280942
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-84.212708	SEABIRD_C_I	-0.0016420757
GLIDE_SLOPE	35	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001160319	SEABIRD_C_J	0.00020143802
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	37	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54305	PITCH_TIMEOUT	20	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	0.0023000001	ROLL_MIN	200	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.014	ROLL_MAX	3790	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	1e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2800	ALTIM_PING_DELTA	5

GPS1	290714,075043,7055.944,-14428.714,20,0.9,40,22.3	SPEED_LIMITS	0.170,0.235
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.84	MHEAD_RNG_PITCHd_Wd	338.3,75047,-21.9,-11.905,-26.85,1887
_SM_ANGLEo	-72.4	D_GRID	1000
GPS2	290714,080149,7055.903,-14428.557,4,0.8,24,22.3

FINISH	0.9,1.010083	_10V_AH	12.61,0.000
SM_CCo	8880,15.05,0.197,0,0,539,649.06	FG_AHR_24Vo	0.000
SM_GC	2.42,8.50,0.45,15.05,0.109,0.096,0.197,213,2793,539,-7.51,0.76,649.06,0,0,0,0,0,0,14.42,14.42,14.34	FG_AHR_10Vo	0.000
RAFOS_CLK	559	MEM	303340
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	33354,950
IRIDIUM_FIX	7026.32,-14425.45,290714,051110	CAP_FILE_SIZE	138504,0
TT8_MAMPS	0.046438,0.046438	CFSIZE	2097872896,2088828928
HUMID	51.45	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.58355	INTR	0,9854.99,0x2378b6,7,5
TCM_TEMP	12.40	SOUNDSPEED	1449.7
XPDR_PINGS	0	EKF	8991,4256.750000,-8669.484375,0.872277,-0.020117,0.112730,-0.006084,0.000118,0.001104,0.000095,0.000525,0.000525,0.000034
SC_FREEKB	4010976	CURRENT	0.058,146.05,1
TM_FREEKB	7711616	GPS	290714,103154,7056.513,-14428.974,37,0.9,57,22.3
_24V_AH	12.63,7.442

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	468	136.74	nil	0	0	0.00
Roll_motor	64	142	115.60	nil	0	0	0.00
VBD_pump_during_apogee	592	2710	20279.21	nil	0	0	0.00
VBD_pump_during_surface	15	197	37.52	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	8886	15	1754.38
Iridium_during_xfer	425	195	1053.38	TMICL	8938	13	1509.19
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	0	0.25
TT8	0	0	0.00
LPSleep	6174	2	179.87
TT8_Active	690	8	75.98
TT8_Sampling	2621	28	932.24
TT8_CF8	76	35	34.43
TT8_Kalman	0	0	0.00
Analog_circuits	1966	10	247.98
GPS_charging	0	0	0.00
Compass	1398	0	13.23
RAFOS	1283	48	776.57
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	-0.69	-145.9	206	2797	465	541	0.0	0.0	0	80	0.00	0.00	-59.00	0.000	16386	0.000	0.000	206	2796	1986	2023	1950	0	0	0	0	0	0	28.83	28.83	28.83
82	-0.69	-145.9	206	2798	2025	1950	4.0	-4.7	6	138	11.62	2.42	-35.12	0.000	18948	0.468	0.112	2397	1399	3783	3885	3682	0	0	0	0	0	0	14.09	14.28	14.50
362	-0.67	-145.9	2398	1399	3878	3694	56.1	-17.4	59	371	0.00	2.55	0.00	0.000	1030	0.000	0.122	2388	2806	3785	3877	3694	0	0	0	0	0	0	28.83	14.32	28.83
667	-0.67	-145.9	2389	2807	3878	3696	106.2	-15.8	90	675	0.00	2.42	0.00	0.000	516	0.000	0.087	2388	1395	3786	3877	3695	0	0	0	0	0	0	28.83	14.40	28.83
858	-0.67	-145.9	2389	1395	3879	3696	132.0	-13.3	128	868	0.00	2.55	0.00	0.000	1030	0.000	0.124	2387	2806	3785	3877	3694	0	0	0	0	0	0	28.83	14.39	28.83
1172	-0.67	-145.9	2388	2807	3876	3696	173.5	-12.3	160	1182	0.00	2.42	0.00	0.000	516	0.000	0.089	2387	1393	3785	3875	3695	0	0	0	0	0	0	28.83	14.44	28.83
1241	-0.70	-145.9	2388	1392	3876	3695	181.3	-11.2	173	1250	0.00	2.55	0.00	0.000	1030	0.000	0.125	2387	2799	3784	3874	3695	0	0	0	0	0	0	28.83	14.38	28.83
1546	-0.73	-145.9	2388	2799	3875	3695	214.8	-10.6	204	1549	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2796	3784	3874	3695	0	0	0	0	0	0	28.83	28.83	28.83
1846	-0.76	-145.9	2388	2799	3873	3695	245.0	-9.8	234	1849	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2799	3783	3872	3695	0	0	0	0	0	0	28.83	28.83	28.83
2166	-0.80	-145.9	2388	2800	3871	3696	275.9	-9.5	248	2176	0.00	2.40	0.00	0.000	516	0.000	0.090	2384	1388	3782	3870	3695	0	0	0	0	0	0	28.83	14.57	28.83
2230	-0.85	-145.9	2388	1389	3871	3696	281.6	-8.9	260	2240	0.00	2.55	0.00	0.000	1030	0.000	0.126	2387	2806	3782	3870	3695	0	0	0	0	0	0	28.83	14.54	28.83
2564	-0.89	-145.9	2388	2808	3870	3696	312.0	-9.1	276	2567	0.15	0.00	0.00	0.000	4102	0.143	0.000	2328	2805	3781	3869	3694	0	0	0	0	0	0	14.61	28.83	28.83
2864	-0.89	-145.9	2329	2806	3870	3695	347.2	-11.9	286	2872	0.00	2.40	0.00	0.000	516	0.000	0.090	2328	1397	3782	3869	3695	0	0	0	0	0	0	28.83	14.62	28.83
2951	-0.89	-145.9	2329	1397	3869	3697	357.1	-10.7	303	2960	0.00	2.50	0.00	0.000	1030	0.000	0.122	2318	2798	3782	3869	3695	0	0	0	0	0	0	28.83	14.56	28.83
3256	-0.89	-145.9	2318	2799	3869	3695	394.5	-12.3	314	3264	0.00	2.38	0.00	0.000	516	0.000	0.088	2318	1398	3779	3864	3695	0	0	0	0	0	0	28.83	14.62	28.83
3297	-0.89	-145.9	2320	1399	3869	3697	399.6	-12.0	322	3306	0.12	2.50	0.00	0.000	3078	0.334	0.122	2333	2806	3781	3868	3695	0	0	0	0	0	0	14.51	14.60	28.83
3620	-0.89	-145.9	2334	2807	3869	3695	436.1	-11.3	336	3623	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	2804	3781	3868	3695	0	0	0	0	0	0	28.83	28.83	28.83
3920	-0.89	-145.9	2334	2804	3869	3695	470.3	-11.3	346	3928	0.00	2.38	0.00	0.000	516	0.000	0.088	2333	1397	3781	3868	3695	0	0	0	0	0	0	28.83	14.65	28.83
4012	-0.89	-145.9	2334	1397	3869	3692	480.4	-10.8	364	4022	0.00	2.50	0.00	0.000	1030	0.000	0.124	2333	2799	3779	3865	3694	0	0	0	0	0	0	28.83	14.62	28.83
4195	end dive: TARGET_DEPTH_EXCEEDED
state	4195	begin apogee
4198	-0.14	0.0	2335	3062	3869	3696	500.9	-11.1	375	4343	0.95	0.00	133.48	2.710	10246	0.292	0.000	2579	3061	3186	3265	3108	0	0	0	0	1	0	14.53	28.83	12.63
4344	end apogee: CONTROL_FINISHED_OK
state	4344	begin climb
4345	0.69	145.9	2580	3061	3282	3109	504.0	0.0	379	4488	0.93	1.48	130.02	1.525	10500	0.168	0.130	2848	3793	2584	2648	2520	0	0	0	0	0	0	13.70	13.60	13.15
4713	0.62	145.9	2848	3793	2636	2509	458.0	17.1	445	4720	0.00	1.33	0.00	0.000	1030	0.000	0.084	2853	3051	2571	2635	2508	0	0	0	0	0	0	28.83	14.12	28.83
5045	0.56	145.9	2854	3052	2636	2509	407.3	15.2	461	5052	0.12	1.35	0.00	0.000	4356	0.329	0.126	2824	3790	2571	2635	2508	0	0	0	0	0	0	14.18	14.28	28.83
5276	0.51	145.9	2825	3787	2636	2504	371.9	15.9	507	5284	0.10	1.27	0.00	0.000	5126	0.290	0.088	2799	3060	2573	2635	2511	0	0	0	0	0	0	14.28	14.41	28.83
5589	0.51	145.9	2804	3061	2636	2509	332.5	12.4	519	5596	0.00	1.35	0.00	0.000	260	0.000	0.134	2803	3784	2571	2635	2507	0	0	0	0	0	0	28.83	14.43	28.83
5820	0.47	145.9	2804	3785	2636	2509	301.0	13.0	565	5828	0.00	1.27	0.00	0.000	1030	0.000	0.089	2808	3045	2569	2630	2508	0	0	0	0	0	0	28.83	14.52	28.83
6133	0.47	145.9	2809	3049	2636	2508	262.7	12.3	577	6140	0.00	1.38	0.00	0.000	260	0.000	0.135	2808	3788	2571	2635	2507	0	0	0	0	0	0	28.83	14.50	28.83
6364	0.43	145.9	2809	3789	2636	2508	231.6	13.2	623	6372	0.12	1.27	0.00	0.000	5126	0.293	0.089	2779	3052	2571	2635	2508	0	0	0	0	0	0	14.43	14.54	28.83
6676	0.46	190.7	2780	3051	2637	2508	200.6	9.5	655	6720	0.00	1.42	38.58	1.196	8452	0.000	0.135	2779	3788	2401	2467	2335	0	0	0	0	0	0	28.83	14.28	13.90
6829	0.47	201.0	2779	3795	2453	2322	184.6	11.3	683	6838	0.00	1.27	4.32	0.920	9222	0.000	0.089	2784	3057	2366	2433	2300	0	0	0	0	0	0	28.83	14.40	13.85
7142	0.54	258.9	2785	3060	2442	2301	156.6	8.8	715	7211	0.00	2.47	58.08	1.053	8708	0.000	0.086	2794	1637	2114	2176	2053	0	0	0	0	0	0	28.83	14.18	13.78
7291	0.65	317.2	2794	1637	2167	2046	143.5	8.7	741	7352	0.15	2.58	52.28	1.001	11270	0.140	0.121	2853	3054	1887	1946	1829	0	0	0	0	0	0	14.31	14.26	13.72
7656	0.65	317.2	2853	3055	1920	1810	96.0	12.6	781	7664	0.00	1.38	0.00	0.000	260	0.000	0.134	2853	3786	1864	1919	1809	0	0	0	0	0	0	28.83	14.33	28.83
7738	0.65	317.2	2853	3785	1920	1807	85.2	13.2	797	7745	0.00	1.30	0.00	0.000	1030	0.000	0.089	2857	3048	1862	1919	1806	0	0	0	0	0	0	28.83	14.40	28.83
8050	0.71	365.9	2858	3050	1920	1808	49.3	9.3	829	8083	0.00	1.42	25.35	0.309	8452	0.000	0.138	2857	3787	1699	1761	1637	0	0	0	0	0	0	28.83	14.39	14.28
8142	0.76	391.9	2863	3788	1787	1637	39.9	10.5	845	8165	0.00	1.27	17.35	0.291	9222	0.000	0.091	2860	3055	1589	1647	1531	0	0	0	0	0	0	28.83	14.45	14.28
8459	0.92	523.5	2861	3057	1680	1532	13.4	4.7	878	8543	0.17	2.50	75.47	0.219	10756	0.143	0.089	2939	1642	1051	1079	1023	0	0	0	0	0	0	14.47	14.38	14.31
8767	1.14	689.6	2939	1641	1098	1024	4.3	2.9	935	8831	0.17	2.55	57.47	0.196	11266	0.148	0.125	2999	3056	635	606	665	0	0	0	0	0	0	14.44	14.42	28.83
8832	end climb: SURFACE_DEPTH_REACHED
state	8832	begin surface coast
8859	end surface coast: CONTROL_FINISHED_OK
state	8859	begin surface