Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 23 * 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 23 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 24 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 17 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 -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 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 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 -21647.561 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 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 1 T_GPS 5

CAPUPLOAD 0 ID 199 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -21647.561

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 -1

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 24 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 17 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 23 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 290714,071742,7055.829,-14428.689,35,0.8,55,22.3 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 1.74 MHEAD_RNG_PITCHd_Wd 308.1,88359,-21.9,-11.905,-25.13,1887

_SM_ANGLEo -71.7 D_GRID 1000

GPS2 290714,072657,7055.797,-14428.614,5,0.8,25,22.3

Post-dive calculations and measurements:

FINISH 0.7,1.011906 _10V_AH 12.64,0.000

SM_CCo 8446,21.83,0.194,0,0,537,689.05 FG_AHR_24Vo 0.000

SM_GC 1.68,8.30,2.83,21.83,0.099,0.103,0.194,196,2211,537,-7.06,0.96,689.05,0,0,0,0,0,0,14.32,14.30,14.25 FG_AHR_10Vo 0.000

RAFOS_CLK 280 MEM 302932

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 30030,847

IRIDIUM_FIX 7026.32,-14430.80,290714,044538 CAP_FILE_SIZE 132348,0

TT8_MAMPS 0.047187,0.047187 CFSIZE 2097872896,2088632320

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

INTERNAL_PRESSURE 8.47526 INTR 0,9388.33,0x2378b6,7,5

TCM_TEMP 11.80 SOUNDSPEED 1449.9

XPDR_PINGS 0 EKF 8540,4256.807129,-8669.650391,0.714898,-0.039283,-0.035435,-0.004894,0.000121,0.001137,0.000095,0.000025,0.000025,0.000034

SC_FREEKB 4014284 CURRENT 0.067,148.15,1

TM_FREEKB 7711584 GPS 290714,094931,7056.542,-14429.157,13,0.8,33,22.3

_24V_AH 12.85,54.150

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 481 142.21 nil 0 0 0.00

Roll_motor 96 146 181.47 nil 0 0 0.00

VBD_pump_during_apogee 595 2093 16027.07 nil 0 0 0.00

VBD_pump_during_surface 21 193 54.28 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 8448 15 1700.00

Iridium_during_xfer 346 190 848.32 TMICL 8474 1000 108890.90

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.10

TT8 0 0 0.00

LPSleep 5869 2 171.37

TT8_Active 774 10 107.42

TT8_Sampling 2305 29 865.58

TT8_CF8 74 36 34.14

TT8_Kalman 0 0 0.00

Analog_circuits 1888 10 238.73

GPS_charging 0 0 0.00

Compass 1249 5 78.99

RAFOS 1470 48 891.88

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 -145.9 195 2198 583 511 0.0 0.0 0 74 0.00 0.00 -52.83 0.000 16386 0.000 0.000 193 2199 1882 1887 1878 0 0 0 0 0 0 28.83 28.83 28.83

76 -0.87 -145.9 193 2199 1889 1878 3.0 -2.9 5 138 11.12 2.58 -41.28 0.000 18948 0.481 0.147 2185 796 3947 4001 3893 0 0 0 0 0 0 14.06 14.24 14.48

232 -0.78 -145.9 2187 796 4000 3896 40.7 -24.0 33 240 0.17 2.50 0.00 0.000 3078 0.365 0.105 2209 2205 3948 4001 3896 0 0 0 0 0 0 14.17 14.29 28.83

544 -0.75 -145.9 2208 2207 4002 3899 102.9 -17.7 65 552 0.00 2.53 0.00 0.000 260 0.000 0.132 2200 3615 3949 4001 3898 0 0 0 0 0 0 28.83 14.38 28.83

591 -0.72 -145.9 2199 3616 4003 3898 111.8 -18.8 74 602 0.15 2.45 0.00 0.000 3078 0.311 0.092 2229 2191 3949 4001 3898 0 0 0 0 0 0 14.26 14.36 28.83

896 -0.72 -145.9 2230 2192 4002 3898 158.5 -14.6 105 904 0.00 2.55 0.00 0.000 260 0.000 0.132 2219 3612 3951 4004 3898 0 0 0 0 0 0 28.83 14.42 28.83

988 -0.72 -145.9 2221 3612 4000 3898 172.4 -14.8 123 996 0.00 2.42 0.00 0.000 1030 0.000 0.093 2219 2200 3949 4001 3897 0 0 0 0 0 0 28.83 14.45 28.83

1300 -0.74 -145.9 2219 2200 4003 3898 212.5 -12.3 155 1308 0.00 2.55 0.00 0.000 260 0.000 0.132 2209 3619 3949 4001 3897 0 0 0 0 0 0 28.83 14.40 28.83

1416 -0.74 -145.9 2208 3620 4002 3898 227.9 -13.0 178 1428 0.00 2.45 0.00 0.000 1030 0.000 0.093 2209 2194 3948 4000 3897 0 0 0 0 0 0 28.83 14.47 28.83

1723 -0.76 -145.9 2208 2195 4002 3897 264.0 -11.6 201 1731 0.00 2.55 0.00 0.000 260 0.000 0.133 2198 3618 3948 4001 3896 0 0 0 0 0 0 28.83 14.47 28.83

1845 -0.76 -145.9 2198 3618 4002 3892 279.7 -13.0 225 1854 0.00 2.42 0.00 0.000 1030 0.000 0.093 2198 2200 3948 4001 3896 0 0 0 0 0 0 28.83 14.50 28.83

2178 -0.76 -145.9 2199 2207 4001 3895 319.5 -11.8 241 2186 0.00 2.55 0.00 0.000 260 0.000 0.132 2187 3612 3947 4001 3894 0 0 0 0 0 0 28.83 14.45 28.83

2264 -0.76 -145.9 2189 3613 4000 3895 330.9 -13.6 258 2275 0.15 2.42 0.00 0.000 3078 0.295 0.093 2218 2200 3948 4001 3895 0 0 0 0 0 0 14.36 14.46 28.83

2570 -0.79 -145.9 2219 2198 4001 3894 363.6 -10.4 269 2578 0.00 2.55 0.00 0.000 260 0.000 0.132 2209 3619 3947 4001 3894 0 0 0 0 0 0 28.83 14.42 28.83

2672 -0.82 -145.9 2209 3621 4002 3895 375.5 -11.7 289 2679 0.00 2.45 0.00 0.000 1030 0.000 0.093 2209 2191 3947 4001 3894 0 0 0 0 0 0 28.83 14.45 28.83

2994 -0.84 -145.9 2208 2192 4002 3895 411.3 -11.1 303 3003 0.00 2.55 0.00 0.000 260 0.000 0.132 2198 3613 3947 4001 3893 0 0 0 0 0 0 28.83 14.41 28.83

3112 -0.84 -145.9 2199 3618 4000 3892 425.6 -11.6 326 3122 0.00 2.42 0.00 0.000 1030 0.000 0.093 2198 2199 3947 4001 3893 0 0 0 0 0 0 28.83 14.43 28.83

3418 -0.87 -145.9 2198 2199 4001 3894 460.6 -11.3 337 3425 0.00 2.55 0.00 0.000 260 0.000 0.132 2190 3619 3947 4001 3894 0 0 0 0 0 0 28.83 14.40 28.83

3504 -0.87 -145.9 2189 3619 3994 3894 471.4 -12.2 354 3515 0.00 2.42 0.00 0.000 1030 0.000 0.091 2188 2200 3947 4001 3893 0 0 0 0 0 0 28.83 14.46 28.83

3748 end dive: TARGET_DEPTH_EXCEEDED

state 3748 begin apogee

3752 -0.16 0.0 2185 2809 4000 3894 500.1 -11.6 363 3894 0.93 0.00 132.73 2.093 10246 0.294 0.000 2414 2808 3349 3402 3297 0 0 0 0 1 0 14.37 28.83 12.85

3896 end apogee: CONTROL_FINISHED_OK

state 3896 begin climb

3897 0.87 145.9 2415 2809 3410 3298 504.0 0.0 367 4042 1.10 0.00 133.48 1.668 10502 0.139 0.000 2743 2808 2753 2802 2704 0 0 0 0 0 0 13.73 28.83 12.97

4319 0.79 145.9 2742 2809 2789 2679 455.3 15.8 397 4327 0.00 2.55 0.00 0.000 516 0.000 0.104 2754 1394 2732 2787 2678 0 0 0 0 0 0 28.83 14.11 28.83

4376 0.72 145.9 2753 1394 2789 2679 446.6 15.0 408 4386 0.22 2.55 0.00 0.000 5126 0.315 0.110 2707 2800 2731 2786 2677 0 0 0 0 0 0 14.05 14.14 28.83

4682 0.67 145.9 2706 2801 2788 2679 404.4 13.8 419 4690 0.00 2.50 0.00 0.000 516 0.000 0.103 2716 1388 2732 2787 2678 0 0 0 0 0 0 28.83 14.29 28.83

4754 0.63 145.9 2716 1389 2788 2679 394.7 13.5 433 4762 0.17 2.55 0.00 0.000 5126 0.296 0.112 2680 2807 2732 2786 2678 0 0 0 0 0 0 14.22 14.30 28.83

5076 0.61 145.9 2680 2807 2788 2679 354.8 12.4 447 5084 0.00 2.47 0.00 0.000 516 0.000 0.102 2689 1395 2732 2787 2678 0 0 0 0 0 0 28.83 14.40 28.83

5164 0.61 149.7 2689 1396 2788 2679 344.5 11.7 464 5173 0.00 2.50 0.00 0.000 1030 0.000 0.112 2689 2802 2732 2787 2678 0 0 0 0 0 0 28.83 14.38 28.83

5469 0.58 149.7 2688 2803 2788 2679 306.6 12.3 475 5477 0.12 2.47 0.00 0.000 4612 0.311 0.100 2670 1391 2732 2787 2678 0 0 0 0 0 0 14.37 14.45 28.83

5586 0.62 183.3 2671 1392 2786 2679 293.9 10.1 498 5627 0.00 2.53 32.70 1.434 9222 0.000 0.112 2670 2806 2592 2652 2532 0 0 0 0 0 0 28.83 14.47 13.69

5931 0.62 183.3 2671 2807 2643 2513 252.0 12.2 515 5939 0.00 2.50 0.00 0.000 516 0.000 0.103 2680 1388 2577 2643 2512 0 0 0 0 0 0 28.83 14.38 28.83

6063 0.63 197.9 2680 1389 2643 2512 236.7 11.1 541 6080 0.00 2.53 11.15 1.294 9222 0.000 0.112 2680 2802 2540 2606 2474 0 0 0 0 0 0 28.83 14.40 13.78

6375 0.65 208.7 2682 2803 2594 2459 199.7 11.3 573 6391 0.00 2.53 3.78 0.939 8708 0.000 0.103 2690 1400 2501 2571 2431 0 0 0 0 0 0 28.83 14.36 13.76

6451 0.67 224.6 2691 1401 2582 2443 191.5 11.0 587 6480 0.00 2.50 22.65 1.279 9222 0.000 0.112 2690 2804 2429 2499 2359 0 0 0 0 0 0 28.83 14.39 13.72

6774 0.70 250.4 2689 2804 2483 2337 155.6 10.5 621 6804 0.00 2.60 22.42 1.249 8708 0.000 0.104 2698 1394 2315 2388 2242 0 0 0 0 0 0 28.83 14.22 13.71

6953 0.77 287.4 2700 1392 2377 2226 138.0 9.9 655 6994 0.00 2.53 33.12 1.226 9222 0.000 0.112 2699 2798 2168 2248 2088 0 0 0 0 0 0 28.83 14.31 13.64

7289 0.83 316.1 2700 2799 2234 2064 101.7 10.3 691 7323 0.12 2.55 25.65 1.206 10756 0.171 0.106 2748 1393 2044 2135 1954 0 0 0 0 0 0 14.33 14.13 13.69

7457 0.85 328.3 2748 1394 2129 1939 82.2 11.2 723 7473 0.00 2.55 3.10 0.210 9222 0.000 0.112 2748 2803 2010 2103 1918 0 0 0 0 0 0 28.83 14.26 14.21

7768 0.90 374.1 2748 2802 2118 1942 46.1 9.4 755 7802 0.00 2.53 26.23 0.303 8708 0.000 0.107 2759 1395 1823 1913 1733 0 0 0 0 0 0 28.83 14.28 14.21

7901 1.00 427.4 2758 1396 1932 1751 33.9 9.0 780 7938 0.00 2.53 30.00 0.267 9222 0.000 0.113 2758 2800 1604 1701 1507 0 0 0 0 0 0 28.83 14.34 14.22

8232 1.36 650.0 2759 2801 1715 1527 11.9 -0.2 815 8360 0.43 1.83 118.90 0.207 10500 0.116 0.137 2903 3770 696 767 626 0 0 0 0 0 0 14.41 14.25 14.21

8403 end climb: SURFACE_DEPTH_REACHED

state 8403 begin surface coast

8423 end surface coast: CONTROL_FINISHED_OK

state 8423 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	23	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	24	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	17	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	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	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	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	-21647.561	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	290714,071742,7055.829,-14428.689,35,0.8,55,22.3	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	1.74	MHEAD_RNG_PITCHd_Wd	308.1,88359,-21.9,-11.905,-25.13,1887
_SM_ANGLEo	-71.7	D_GRID	1000
GPS2	290714,072657,7055.797,-14428.614,5,0.8,25,22.3

FINISH	0.7,1.011906	_10V_AH	12.64,0.000
SM_CCo	8446,21.83,0.194,0,0,537,689.05	FG_AHR_24Vo	0.000
SM_GC	1.68,8.30,2.83,21.83,0.099,0.103,0.194,196,2211,537,-7.06,0.96,689.05,0,0,0,0,0,0,14.32,14.30,14.25	FG_AHR_10Vo	0.000
RAFOS_CLK	280	MEM	302932
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	30030,847
IRIDIUM_FIX	7026.32,-14430.80,290714,044538	CAP_FILE_SIZE	132348,0
TT8_MAMPS	0.047187,0.047187	CFSIZE	2097872896,2088632320
HUMID	52.52	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.47526	INTR	0,9388.33,0x2378b6,7,5
TCM_TEMP	11.80	SOUNDSPEED	1449.9
XPDR_PINGS	0	EKF	8540,4256.807129,-8669.650391,0.714898,-0.039283,-0.035435,-0.004894,0.000121,0.001137,0.000095,0.000025,0.000025,0.000034
SC_FREEKB	4014284	CURRENT	0.067,148.15,1
TM_FREEKB	7711584	GPS	290714,094931,7056.542,-14429.157,13,0.8,33,22.3
_24V_AH	12.85,54.150

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	481	142.21	nil	0	0	0.00
Roll_motor	96	146	181.47	nil	0	0	0.00
VBD_pump_during_apogee	595	2093	16027.07	nil	0	0	0.00
VBD_pump_during_surface	21	193	54.28	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	8448	15	1700.00
Iridium_during_xfer	346	190	848.32	TMICL	8474	1000	108890.90
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.10
TT8	0	0	0.00
LPSleep	5869	2	171.37
TT8_Active	774	10	107.42
TT8_Sampling	2305	29	865.58
TT8_CF8	74	36	34.14
TT8_Kalman	0	0	0.00
Analog_circuits	1888	10	238.73
GPS_charging	0	0	0.00
Compass	1249	5	78.99
RAFOS	1470	48	891.88
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	195	2198	583	511	0.0	0.0	0	74	0.00	0.00	-52.83	0.000	16386	0.000	0.000	193	2199	1882	1887	1878	0	0	0	0	0	0	28.83	28.83	28.83
76	-0.87	-145.9	193	2199	1889	1878	3.0	-2.9	5	138	11.12	2.58	-41.28	0.000	18948	0.481	0.147	2185	796	3947	4001	3893	0	0	0	0	0	0	14.06	14.24	14.48
232	-0.78	-145.9	2187	796	4000	3896	40.7	-24.0	33	240	0.17	2.50	0.00	0.000	3078	0.365	0.105	2209	2205	3948	4001	3896	0	0	0	0	0	0	14.17	14.29	28.83
544	-0.75	-145.9	2208	2207	4002	3899	102.9	-17.7	65	552	0.00	2.53	0.00	0.000	260	0.000	0.132	2200	3615	3949	4001	3898	0	0	0	0	0	0	28.83	14.38	28.83
591	-0.72	-145.9	2199	3616	4003	3898	111.8	-18.8	74	602	0.15	2.45	0.00	0.000	3078	0.311	0.092	2229	2191	3949	4001	3898	0	0	0	0	0	0	14.26	14.36	28.83
896	-0.72	-145.9	2230	2192	4002	3898	158.5	-14.6	105	904	0.00	2.55	0.00	0.000	260	0.000	0.132	2219	3612	3951	4004	3898	0	0	0	0	0	0	28.83	14.42	28.83
988	-0.72	-145.9	2221	3612	4000	3898	172.4	-14.8	123	996	0.00	2.42	0.00	0.000	1030	0.000	0.093	2219	2200	3949	4001	3897	0	0	0	0	0	0	28.83	14.45	28.83
1300	-0.74	-145.9	2219	2200	4003	3898	212.5	-12.3	155	1308	0.00	2.55	0.00	0.000	260	0.000	0.132	2209	3619	3949	4001	3897	0	0	0	0	0	0	28.83	14.40	28.83
1416	-0.74	-145.9	2208	3620	4002	3898	227.9	-13.0	178	1428	0.00	2.45	0.00	0.000	1030	0.000	0.093	2209	2194	3948	4000	3897	0	0	0	0	0	0	28.83	14.47	28.83
1723	-0.76	-145.9	2208	2195	4002	3897	264.0	-11.6	201	1731	0.00	2.55	0.00	0.000	260	0.000	0.133	2198	3618	3948	4001	3896	0	0	0	0	0	0	28.83	14.47	28.83
1845	-0.76	-145.9	2198	3618	4002	3892	279.7	-13.0	225	1854	0.00	2.42	0.00	0.000	1030	0.000	0.093	2198	2200	3948	4001	3896	0	0	0	0	0	0	28.83	14.50	28.83
2178	-0.76	-145.9	2199	2207	4001	3895	319.5	-11.8	241	2186	0.00	2.55	0.00	0.000	260	0.000	0.132	2187	3612	3947	4001	3894	0	0	0	0	0	0	28.83	14.45	28.83
2264	-0.76	-145.9	2189	3613	4000	3895	330.9	-13.6	258	2275	0.15	2.42	0.00	0.000	3078	0.295	0.093	2218	2200	3948	4001	3895	0	0	0	0	0	0	14.36	14.46	28.83
2570	-0.79	-145.9	2219	2198	4001	3894	363.6	-10.4	269	2578	0.00	2.55	0.00	0.000	260	0.000	0.132	2209	3619	3947	4001	3894	0	0	0	0	0	0	28.83	14.42	28.83
2672	-0.82	-145.9	2209	3621	4002	3895	375.5	-11.7	289	2679	0.00	2.45	0.00	0.000	1030	0.000	0.093	2209	2191	3947	4001	3894	0	0	0	0	0	0	28.83	14.45	28.83
2994	-0.84	-145.9	2208	2192	4002	3895	411.3	-11.1	303	3003	0.00	2.55	0.00	0.000	260	0.000	0.132	2198	3613	3947	4001	3893	0	0	0	0	0	0	28.83	14.41	28.83
3112	-0.84	-145.9	2199	3618	4000	3892	425.6	-11.6	326	3122	0.00	2.42	0.00	0.000	1030	0.000	0.093	2198	2199	3947	4001	3893	0	0	0	0	0	0	28.83	14.43	28.83
3418	-0.87	-145.9	2198	2199	4001	3894	460.6	-11.3	337	3425	0.00	2.55	0.00	0.000	260	0.000	0.132	2190	3619	3947	4001	3894	0	0	0	0	0	0	28.83	14.40	28.83
3504	-0.87	-145.9	2189	3619	3994	3894	471.4	-12.2	354	3515	0.00	2.42	0.00	0.000	1030	0.000	0.091	2188	2200	3947	4001	3893	0	0	0	0	0	0	28.83	14.46	28.83
3748	end dive: TARGET_DEPTH_EXCEEDED
state	3748	begin apogee
3752	-0.16	0.0	2185	2809	4000	3894	500.1	-11.6	363	3894	0.93	0.00	132.73	2.093	10246	0.294	0.000	2414	2808	3349	3402	3297	0	0	0	0	1	0	14.37	28.83	12.85
3896	end apogee: CONTROL_FINISHED_OK
state	3896	begin climb
3897	0.87	145.9	2415	2809	3410	3298	504.0	0.0	367	4042	1.10	0.00	133.48	1.668	10502	0.139	0.000	2743	2808	2753	2802	2704	0	0	0	0	0	0	13.73	28.83	12.97
4319	0.79	145.9	2742	2809	2789	2679	455.3	15.8	397	4327	0.00	2.55	0.00	0.000	516	0.000	0.104	2754	1394	2732	2787	2678	0	0	0	0	0	0	28.83	14.11	28.83
4376	0.72	145.9	2753	1394	2789	2679	446.6	15.0	408	4386	0.22	2.55	0.00	0.000	5126	0.315	0.110	2707	2800	2731	2786	2677	0	0	0	0	0	0	14.05	14.14	28.83
4682	0.67	145.9	2706	2801	2788	2679	404.4	13.8	419	4690	0.00	2.50	0.00	0.000	516	0.000	0.103	2716	1388	2732	2787	2678	0	0	0	0	0	0	28.83	14.29	28.83
4754	0.63	145.9	2716	1389	2788	2679	394.7	13.5	433	4762	0.17	2.55	0.00	0.000	5126	0.296	0.112	2680	2807	2732	2786	2678	0	0	0	0	0	0	14.22	14.30	28.83
5076	0.61	145.9	2680	2807	2788	2679	354.8	12.4	447	5084	0.00	2.47	0.00	0.000	516	0.000	0.102	2689	1395	2732	2787	2678	0	0	0	0	0	0	28.83	14.40	28.83
5164	0.61	149.7	2689	1396	2788	2679	344.5	11.7	464	5173	0.00	2.50	0.00	0.000	1030	0.000	0.112	2689	2802	2732	2787	2678	0	0	0	0	0	0	28.83	14.38	28.83
5469	0.58	149.7	2688	2803	2788	2679	306.6	12.3	475	5477	0.12	2.47	0.00	0.000	4612	0.311	0.100	2670	1391	2732	2787	2678	0	0	0	0	0	0	14.37	14.45	28.83
5586	0.62	183.3	2671	1392	2786	2679	293.9	10.1	498	5627	0.00	2.53	32.70	1.434	9222	0.000	0.112	2670	2806	2592	2652	2532	0	0	0	0	0	0	28.83	14.47	13.69
5931	0.62	183.3	2671	2807	2643	2513	252.0	12.2	515	5939	0.00	2.50	0.00	0.000	516	0.000	0.103	2680	1388	2577	2643	2512	0	0	0	0	0	0	28.83	14.38	28.83
6063	0.63	197.9	2680	1389	2643	2512	236.7	11.1	541	6080	0.00	2.53	11.15	1.294	9222	0.000	0.112	2680	2802	2540	2606	2474	0	0	0	0	0	0	28.83	14.40	13.78
6375	0.65	208.7	2682	2803	2594	2459	199.7	11.3	573	6391	0.00	2.53	3.78	0.939	8708	0.000	0.103	2690	1400	2501	2571	2431	0	0	0	0	0	0	28.83	14.36	13.76
6451	0.67	224.6	2691	1401	2582	2443	191.5	11.0	587	6480	0.00	2.50	22.65	1.279	9222	0.000	0.112	2690	2804	2429	2499	2359	0	0	0	0	0	0	28.83	14.39	13.72
6774	0.70	250.4	2689	2804	2483	2337	155.6	10.5	621	6804	0.00	2.60	22.42	1.249	8708	0.000	0.104	2698	1394	2315	2388	2242	0	0	0	0	0	0	28.83	14.22	13.71
6953	0.77	287.4	2700	1392	2377	2226	138.0	9.9	655	6994	0.00	2.53	33.12	1.226	9222	0.000	0.112	2699	2798	2168	2248	2088	0	0	0	0	0	0	28.83	14.31	13.64
7289	0.83	316.1	2700	2799	2234	2064	101.7	10.3	691	7323	0.12	2.55	25.65	1.206	10756	0.171	0.106	2748	1393	2044	2135	1954	0	0	0	0	0	0	14.33	14.13	13.69
7457	0.85	328.3	2748	1394	2129	1939	82.2	11.2	723	7473	0.00	2.55	3.10	0.210	9222	0.000	0.112	2748	2803	2010	2103	1918	0	0	0	0	0	0	28.83	14.26	14.21
7768	0.90	374.1	2748	2802	2118	1942	46.1	9.4	755	7802	0.00	2.53	26.23	0.303	8708	0.000	0.107	2759	1395	1823	1913	1733	0	0	0	0	0	0	28.83	14.28	14.21
7901	1.00	427.4	2758	1396	1932	1751	33.9	9.0	780	7938	0.00	2.53	30.00	0.267	9222	0.000	0.113	2758	2800	1604	1701	1507	0	0	0	0	0	0	28.83	14.34	14.22
8232	1.36	650.0	2759	2801	1715	1527	11.9	-0.2	815	8360	0.43	1.83	118.90	0.207	10500	0.116	0.137	2903	3770	696	767	626	0	0	0	0	0	0	14.41	14.25	14.21
8403	end climb: SURFACE_DEPTH_REACHED
state	8403	begin surface coast
8423	end surface coast: CONTROL_FINISHED_OK
state	8423	begin surface