Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 26 * 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 26 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 16 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 688.85968 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.6

D_ABORT 600 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 3349 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -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 -21652.088 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 -21652.088

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 16 USE_ICE 0

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 5 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 10 SEABIRD_C_G -9.7531748 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1147131 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0015239087 VBD_MIN 500

DIVE 26 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 290714,150044,7057.871,-14430.134,17,0.8,37,22.3 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 1.71 MHEAD_RNG_PITCHd_Wd 304.6,84779,-21.9,-11.905,-25.13,1887

_SM_ANGLEo -70.2 D_GRID 1000

GPS2 290714,151021,7057.787,-14430.146,3,0.8,21,22.3

Post-dive calculations and measurements:

FINISH 0.7,1.010260 _10V_AH 12.66,0.000

SM_CCo 8483,20.83,0.191,0,0,538,689.29 FG_AHR_24Vo 0.000

SM_GC 1.27,8.43,2.80,20.83,0.113,0.094,0.191,197,2199,538,-7.06,0.71,689.29,0,0,0,0,0,0,14.33,14.33,14.26 FG_AHR_10Vo 0.000

RAFOS_CLK 236 MEM 301616

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 30031,831

IRIDIUM_FIX 7026.32,-14436.17,290714,123018 CAP_FILE_SIZE 130935,0

TT8_MAMPS 0.047936,0.047936 CFSIZE 2097872896,2087878656

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

INTERNAL_PRESSURE 8.4948 INTR 0,9266.41,0x2378b6,7,5

TCM_TEMP 12.60 SOUNDSPEED 1450.0

XPDR_PINGS 0 EKF 8578,4258.807129,-8671.435547,0.655157,-0.509839,-0.456742,0.020143,0.000117,0.001101,0.000095,0.000025,0.000025,0.000034

SC_FREEKB 4013980 CURRENT 0.047,114.31,1

TM_FREEKB 7670944 GPS 290714,173333,7058.684,-14430.915,16,0.8,36,22.3

_24V_AH 12.95,59.860

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 478 143.72 nil 0 0 0.00

Roll_motor 94 152 186.40 nil 0 0 0.00

VBD_pump_during_apogee 659 1628 13909.30 nil 0 0 0.00

VBD_pump_during_surface 20 191 51.58 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 8485 15 1734.58

Iridium_during_xfer 375 180 876.81 TMICL 8512 19 2191.49

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 20 6.08

TT8 0 0 0.00

LPSleep 5872 2 171.75

TT8_Active 832 10 115.63

TT8_Sampling 2299 29 864.70

TT8_CF8 79 36 36.68

TT8_Kalman 0 0 0.00

Analog_circuits 1965 10 248.84

GPS_charging 0 0 0.00

Compass 1226 5 77.66

RAFOS 1498 48 910.30

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 -145.9 185 2198 575 489 0.0 0.0 0 95 0.00 0.00 -73.55 0.000 16386 0.000 0.000 183 2198 2434 2440 2428 0 0 0 0 0 0 28.83 28.83 28.83

97 -0.87 -145.9 183 2199 2442 2428 4.4 -5.3 7 144 11.10 2.65 -26.30 0.000 19204 0.479 0.152 2171 3616 3945 4002 3889 0 0 0 0 0 0 14.04 14.23 14.47

358 -0.77 -145.9 2173 3617 4002 3894 76.6 -22.0 57 366 0.20 2.45 0.00 0.000 3078 0.335 0.094 2213 2200 3947 4002 3893 0 0 0 0 0 0 14.22 14.35 28.83

670 -0.77 -145.9 2213 2200 4004 3892 132.9 -17.0 89 679 0.00 2.50 0.00 0.000 260 0.000 0.129 2204 3618 3946 4002 3890 0 0 0 0 0 0 28.83 14.38 28.83

693 -0.77 -145.9 2205 3619 4001 3894 136.9 -17.6 93 701 0.00 2.45 0.00 0.000 1030 0.000 0.089 2204 2196 3948 4003 3894 0 0 0 0 0 0 28.83 14.42 28.83

1005 -0.77 -145.9 2204 2196 4004 3895 185.1 -14.3 125 1007 0.00 0.00 0.00 0.000 6 0.000 0.000 2204 2195 3947 4002 3893 0 0 0 0 0 0 28.83 28.83 28.83

1305 -0.77 -145.9 2206 2195 4002 3894 224.3 -13.0 155 1313 0.00 2.55 0.00 0.000 260 0.000 0.131 2194 3613 3951 4009 3893 0 0 0 0 0 0 28.83 14.44 28.83

1401 -0.77 -145.9 2194 3614 4004 3894 237.4 -13.2 174 1412 0.00 2.45 0.00 0.000 1030 0.000 0.093 2190 2189 3947 4002 3893 0 0 0 0 0 0 28.83 14.46 28.83

1716 -0.77 -145.9 2195 2190 4002 3893 276.6 -12.2 192 1725 0.00 2.55 0.00 0.000 260 0.000 0.132 2183 3612 3947 4002 3892 0 0 0 0 0 0 28.83 14.47 28.83

1789 -0.77 -145.9 2183 3613 4004 3893 286.3 -13.5 206 1799 0.15 2.45 0.00 0.000 3078 0.316 0.093 2213 2204 3947 4002 3892 0 0 0 0 0 0 14.39 14.50 28.83

2114 -0.80 -145.9 2214 2205 4001 3892 321.4 -10.6 220 2121 0.00 2.53 0.00 0.000 260 0.000 0.133 2203 3615 3946 4002 3890 0 0 0 0 0 0 28.83 14.50 28.83

2185 -0.80 -145.9 2203 3615 4004 3891 329.9 -11.6 234 2196 0.00 2.42 0.00 0.000 1030 0.000 0.091 2203 2191 3946 4002 3890 0 0 0 0 0 0 28.83 14.52 28.83

2510 -0.83 -145.9 2203 2191 4004 3891 366.2 -11.3 248 2518 0.00 2.53 0.00 0.000 260 0.000 0.132 2193 3613 3945 4002 3889 0 0 0 0 0 0 28.83 14.52 28.83

2602 -0.83 -145.9 2193 3610 4004 3889 377.8 -12.4 266 2612 0.00 2.40 0.00 0.000 1030 0.000 0.092 2193 2200 3945 4002 3889 0 0 0 0 0 0 28.83 14.54 28.83

2936 -0.83 -145.9 2194 2200 4002 3891 417.3 -11.7 282 2945 0.00 2.53 0.00 0.000 260 0.000 0.132 2183 3617 3943 3998 3889 0 0 0 0 0 0 28.83 14.50 28.83

3009 -0.83 -145.9 2184 3617 4002 3890 426.8 -13.3 296 3017 0.00 2.42 0.00 0.000 1030 0.000 0.091 2182 2198 3945 4002 3889 0 0 0 0 0 0 28.83 14.52 28.83

3331 -0.83 -145.9 2184 2199 4002 3889 466.7 -12.3 310 3341 0.00 2.55 0.00 0.000 260 0.000 0.130 2172 3621 3945 4002 3889 0 0 0 0 0 0 28.83 14.46 28.83

3380 -0.83 -145.9 2171 3621 4001 3889 473.3 -13.9 319 3388 0.12 2.42 0.00 0.000 3078 0.323 0.091 2195 2201 3945 4002 3889 0 0 0 0 0 0 14.36 14.47 28.83

3636 end dive: TARGET_DEPTH_EXCEEDED

state 3636 begin apogee

3640 -0.16 0.0 2193 2809 4002 3889 502.8 -11.2 330 3831 0.88 0.00 186.00 1.423 10246 0.292 0.000 2410 2808 3348 3403 3294 0 0 0 0 0 0 14.35 28.83 13.21

3833 end apogee: CONTROL_FINISHED_OK

state 3833 begin climb

3834 0.87 145.9 2412 2809 3394 3287 508.8 0.0 336 3976 1.12 1.90 127.93 1.629 10500 0.161 0.133 2739 3767 2745 2793 2697 0 0 0 0 0 0 13.76 13.54 12.95

4030 0.76 145.9 2740 3765 2774 2679 491.9 17.6 368 4038 0.10 1.77 0.00 0.000 5126 0.312 0.090 2724 2795 2726 2774 2679 0 0 0 0 0 0 13.68 13.83 28.83

4352 0.70 145.9 2725 2796 2775 2677 443.9 14.7 382 4361 0.00 2.50 0.00 0.000 516 0.000 0.103 2733 1397 2723 2774 2673 0 0 0 0 0 0 28.83 14.11 28.83

4395 0.65 145.9 2735 1394 2774 2674 437.7 14.0 390 4405 0.22 2.55 0.00 0.000 5126 0.306 0.111 2686 2800 2722 2774 2670 0 0 0 0 0 0 14.05 14.14 28.83

4719 0.62 145.9 2687 2800 2774 2672 396.8 12.5 404 4727 0.00 2.47 0.00 0.000 516 0.000 0.100 2694 1397 2723 2774 2672 0 0 0 0 0 0 28.83 14.31 28.83

4806 0.62 148.5 2695 1398 2776 2670 386.4 11.8 421 4815 0.00 2.53 0.00 0.000 1030 0.000 0.111 2695 2808 2723 2774 2672 0 0 0 0 0 0 28.83 14.33 28.83

5112 0.59 148.5 2694 2809 2776 2673 347.4 12.9 432 5120 0.12 2.50 0.00 0.000 4612 0.307 0.099 2676 1394 2723 2774 2673 0 0 0 0 0 0 14.31 14.40 28.83

5164 0.61 164.2 2676 1394 2776 2673 341.4 11.0 442 5186 0.00 2.50 14.23 1.459 9222 0.000 0.111 2676 2801 2672 2728 2616 0 0 0 0 0 0 28.83 14.40 13.72

5510 0.61 164.2 2677 2802 2717 2598 298.8 12.2 460 5518 0.00 2.45 0.00 0.000 516 0.000 0.101 2686 1398 2657 2718 2597 0 0 0 0 0 0 28.83 14.40 28.83

5602 0.62 176.2 2686 1399 2717 2598 288.0 11.2 478 5612 0.00 2.50 3.42 0.926 9222 0.000 0.112 2686 2801 2628 2689 2568 0 0 0 0 0 0 28.83 14.40 13.71

5916 0.60 176.2 2686 2802 2709 2587 248.3 12.8 494 5926 0.00 2.53 2.12 0.367 8708 0.000 0.100 2696 1396 2629 2690 2568 0 0 0 0 0 0 28.83 14.47 13.65

5965 0.61 184.7 2697 1397 2701 2575 242.6 11.4 503 5988 0.00 2.47 15.10 1.320 9222 0.000 0.111 2696 2801 2590 2652 2529 0 0 0 0 0 0 28.83 14.45 13.80

6282 0.59 184.7 2696 2802 2641 2511 201.9 12.2 536 6290 0.12 2.47 0.00 0.000 4612 0.307 0.098 2677 1392 2574 2639 2510 0 0 0 0 0 0 14.32 14.39 28.83

6360 0.63 216.6 2678 1392 2634 2510 193.7 10.2 551 6401 0.00 2.53 32.33 1.285 9222 0.000 0.112 2677 2809 2458 2526 2391 0 0 0 0 0 0 28.83 14.42 13.70

6705 0.70 279.6 2678 2809 2516 2374 158.1 8.5 588 6773 0.00 2.55 58.75 1.271 8708 0.000 0.099 2687 1399 2193 2271 2115 0 0 0 0 0 0 28.83 14.01 13.50

6918 0.79 315.6 2687 1400 2264 2100 137.5 9.9 627 6959 0.00 2.55 32.50 1.240 9222 0.000 0.112 2687 2806 2053 2141 1966 0 0 0 0 0 0 28.83 14.20 13.53

7263 0.88 355.6 2686 2806 2129 1943 101.5 9.7 664 7312 0.20 2.62 35.88 1.222 10756 0.142 0.103 2762 1394 1880 1972 1789 0 0 0 0 0 0 14.26 14.07 13.60

7536 0.88 355.6 2764 1395 1959 1779 65.4 12.7 716 7544 0.00 2.55 0.00 0.000 1030 0.000 0.113 2763 2802 1868 1959 1778 0 0 0 0 0 0 28.83 14.23 28.83

7848 0.94 402.7 2764 2802 1958 1776 29.9 9.3 748 7877 0.00 2.50 20.45 0.262 8708 0.000 0.102 2774 1395 1706 1798 1614 0 0 0 0 0 0 28.83 14.32 14.22

7972 1.09 491.1 2774 1393 1814 1626 18.6 7.1 771 8027 0.15 2.53 47.30 0.229 11270 0.159 0.113 2821 2803 1343 1442 1245 0 0 0 0 0 0 14.35 14.31 14.23

8332 1.33 650.1 2822 2804 1452 1256 7.7 3.2 810 8422 0.25 1.80 83.47 0.198 10500 0.132 0.135 2903 3768 694 778 610 0 0 0 0 0 0 14.40 14.26 14.24

8440 end climb: SURFACE_DEPTH_REACHED

state 8440 begin surface coast

8460 end surface coast: CONTROL_FINISHED_OK

state 8460 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	26	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	16	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	688.85968	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.6
D_ABORT	600	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	3349	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-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	-21652.088	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	290714,150044,7057.871,-14430.134,17,0.8,37,22.3	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	1.71	MHEAD_RNG_PITCHd_Wd	304.6,84779,-21.9,-11.905,-25.13,1887
_SM_ANGLEo	-70.2	D_GRID	1000
GPS2	290714,151021,7057.787,-14430.146,3,0.8,21,22.3

FINISH	0.7,1.010260	_10V_AH	12.66,0.000
SM_CCo	8483,20.83,0.191,0,0,538,689.29	FG_AHR_24Vo	0.000
SM_GC	1.27,8.43,2.80,20.83,0.113,0.094,0.191,197,2199,538,-7.06,0.71,689.29,0,0,0,0,0,0,14.33,14.33,14.26	FG_AHR_10Vo	0.000
RAFOS_CLK	236	MEM	301616
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	30031,831
IRIDIUM_FIX	7026.32,-14436.17,290714,123018	CAP_FILE_SIZE	130935,0
TT8_MAMPS	0.047936,0.047936	CFSIZE	2097872896,2087878656
HUMID	52.95	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.4948	INTR	0,9266.41,0x2378b6,7,5
TCM_TEMP	12.60	SOUNDSPEED	1450.0
XPDR_PINGS	0	EKF	8578,4258.807129,-8671.435547,0.655157,-0.509839,-0.456742,0.020143,0.000117,0.001101,0.000095,0.000025,0.000025,0.000034
SC_FREEKB	4013980	CURRENT	0.047,114.31,1
TM_FREEKB	7670944	GPS	290714,173333,7058.684,-14430.915,16,0.8,36,22.3
_24V_AH	12.95,59.860

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	478	143.72	nil	0	0	0.00
Roll_motor	94	152	186.40	nil	0	0	0.00
VBD_pump_during_apogee	659	1628	13909.30	nil	0	0	0.00
VBD_pump_during_surface	20	191	51.58	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	8485	15	1734.58
Iridium_during_xfer	375	180	876.81	TMICL	8512	19	2191.49
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	20	6.08
TT8	0	0	0.00
LPSleep	5872	2	171.75
TT8_Active	832	10	115.63
TT8_Sampling	2299	29	864.70
TT8_CF8	79	36	36.68
TT8_Kalman	0	0	0.00
Analog_circuits	1965	10	248.84
GPS_charging	0	0	0.00
Compass	1226	5	77.66
RAFOS	1498	48	910.30
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	185	2198	575	489	0.0	0.0	0	95	0.00	0.00	-73.55	0.000	16386	0.000	0.000	183	2198	2434	2440	2428	0	0	0	0	0	0	28.83	28.83	28.83
97	-0.87	-145.9	183	2199	2442	2428	4.4	-5.3	7	144	11.10	2.65	-26.30	0.000	19204	0.479	0.152	2171	3616	3945	4002	3889	0	0	0	0	0	0	14.04	14.23	14.47
358	-0.77	-145.9	2173	3617	4002	3894	76.6	-22.0	57	366	0.20	2.45	0.00	0.000	3078	0.335	0.094	2213	2200	3947	4002	3893	0	0	0	0	0	0	14.22	14.35	28.83
670	-0.77	-145.9	2213	2200	4004	3892	132.9	-17.0	89	679	0.00	2.50	0.00	0.000	260	0.000	0.129	2204	3618	3946	4002	3890	0	0	0	0	0	0	28.83	14.38	28.83
693	-0.77	-145.9	2205	3619	4001	3894	136.9	-17.6	93	701	0.00	2.45	0.00	0.000	1030	0.000	0.089	2204	2196	3948	4003	3894	0	0	0	0	0	0	28.83	14.42	28.83
1005	-0.77	-145.9	2204	2196	4004	3895	185.1	-14.3	125	1007	0.00	0.00	0.00	0.000	6	0.000	0.000	2204	2195	3947	4002	3893	0	0	0	0	0	0	28.83	28.83	28.83
1305	-0.77	-145.9	2206	2195	4002	3894	224.3	-13.0	155	1313	0.00	2.55	0.00	0.000	260	0.000	0.131	2194	3613	3951	4009	3893	0	0	0	0	0	0	28.83	14.44	28.83
1401	-0.77	-145.9	2194	3614	4004	3894	237.4	-13.2	174	1412	0.00	2.45	0.00	0.000	1030	0.000	0.093	2190	2189	3947	4002	3893	0	0	0	0	0	0	28.83	14.46	28.83
1716	-0.77	-145.9	2195	2190	4002	3893	276.6	-12.2	192	1725	0.00	2.55	0.00	0.000	260	0.000	0.132	2183	3612	3947	4002	3892	0	0	0	0	0	0	28.83	14.47	28.83
1789	-0.77	-145.9	2183	3613	4004	3893	286.3	-13.5	206	1799	0.15	2.45	0.00	0.000	3078	0.316	0.093	2213	2204	3947	4002	3892	0	0	0	0	0	0	14.39	14.50	28.83
2114	-0.80	-145.9	2214	2205	4001	3892	321.4	-10.6	220	2121	0.00	2.53	0.00	0.000	260	0.000	0.133	2203	3615	3946	4002	3890	0	0	0	0	0	0	28.83	14.50	28.83
2185	-0.80	-145.9	2203	3615	4004	3891	329.9	-11.6	234	2196	0.00	2.42	0.00	0.000	1030	0.000	0.091	2203	2191	3946	4002	3890	0	0	0	0	0	0	28.83	14.52	28.83
2510	-0.83	-145.9	2203	2191	4004	3891	366.2	-11.3	248	2518	0.00	2.53	0.00	0.000	260	0.000	0.132	2193	3613	3945	4002	3889	0	0	0	0	0	0	28.83	14.52	28.83
2602	-0.83	-145.9	2193	3610	4004	3889	377.8	-12.4	266	2612	0.00	2.40	0.00	0.000	1030	0.000	0.092	2193	2200	3945	4002	3889	0	0	0	0	0	0	28.83	14.54	28.83
2936	-0.83	-145.9	2194	2200	4002	3891	417.3	-11.7	282	2945	0.00	2.53	0.00	0.000	260	0.000	0.132	2183	3617	3943	3998	3889	0	0	0	0	0	0	28.83	14.50	28.83
3009	-0.83	-145.9	2184	3617	4002	3890	426.8	-13.3	296	3017	0.00	2.42	0.00	0.000	1030	0.000	0.091	2182	2198	3945	4002	3889	0	0	0	0	0	0	28.83	14.52	28.83
3331	-0.83	-145.9	2184	2199	4002	3889	466.7	-12.3	310	3341	0.00	2.55	0.00	0.000	260	0.000	0.130	2172	3621	3945	4002	3889	0	0	0	0	0	0	28.83	14.46	28.83
3380	-0.83	-145.9	2171	3621	4001	3889	473.3	-13.9	319	3388	0.12	2.42	0.00	0.000	3078	0.323	0.091	2195	2201	3945	4002	3889	0	0	0	0	0	0	14.36	14.47	28.83
3636	end dive: TARGET_DEPTH_EXCEEDED
state	3636	begin apogee
3640	-0.16	0.0	2193	2809	4002	3889	502.8	-11.2	330	3831	0.88	0.00	186.00	1.423	10246	0.292	0.000	2410	2808	3348	3403	3294	0	0	0	0	0	0	14.35	28.83	13.21
3833	end apogee: CONTROL_FINISHED_OK
state	3833	begin climb
3834	0.87	145.9	2412	2809	3394	3287	508.8	0.0	336	3976	1.12	1.90	127.93	1.629	10500	0.161	0.133	2739	3767	2745	2793	2697	0	0	0	0	0	0	13.76	13.54	12.95
4030	0.76	145.9	2740	3765	2774	2679	491.9	17.6	368	4038	0.10	1.77	0.00	0.000	5126	0.312	0.090	2724	2795	2726	2774	2679	0	0	0	0	0	0	13.68	13.83	28.83
4352	0.70	145.9	2725	2796	2775	2677	443.9	14.7	382	4361	0.00	2.50	0.00	0.000	516	0.000	0.103	2733	1397	2723	2774	2673	0	0	0	0	0	0	28.83	14.11	28.83
4395	0.65	145.9	2735	1394	2774	2674	437.7	14.0	390	4405	0.22	2.55	0.00	0.000	5126	0.306	0.111	2686	2800	2722	2774	2670	0	0	0	0	0	0	14.05	14.14	28.83
4719	0.62	145.9	2687	2800	2774	2672	396.8	12.5	404	4727	0.00	2.47	0.00	0.000	516	0.000	0.100	2694	1397	2723	2774	2672	0	0	0	0	0	0	28.83	14.31	28.83
4806	0.62	148.5	2695	1398	2776	2670	386.4	11.8	421	4815	0.00	2.53	0.00	0.000	1030	0.000	0.111	2695	2808	2723	2774	2672	0	0	0	0	0	0	28.83	14.33	28.83
5112	0.59	148.5	2694	2809	2776	2673	347.4	12.9	432	5120	0.12	2.50	0.00	0.000	4612	0.307	0.099	2676	1394	2723	2774	2673	0	0	0	0	0	0	14.31	14.40	28.83
5164	0.61	164.2	2676	1394	2776	2673	341.4	11.0	442	5186	0.00	2.50	14.23	1.459	9222	0.000	0.111	2676	2801	2672	2728	2616	0	0	0	0	0	0	28.83	14.40	13.72
5510	0.61	164.2	2677	2802	2717	2598	298.8	12.2	460	5518	0.00	2.45	0.00	0.000	516	0.000	0.101	2686	1398	2657	2718	2597	0	0	0	0	0	0	28.83	14.40	28.83
5602	0.62	176.2	2686	1399	2717	2598	288.0	11.2	478	5612	0.00	2.50	3.42	0.926	9222	0.000	0.112	2686	2801	2628	2689	2568	0	0	0	0	0	0	28.83	14.40	13.71
5916	0.60	176.2	2686	2802	2709	2587	248.3	12.8	494	5926	0.00	2.53	2.12	0.367	8708	0.000	0.100	2696	1396	2629	2690	2568	0	0	0	0	0	0	28.83	14.47	13.65
5965	0.61	184.7	2697	1397	2701	2575	242.6	11.4	503	5988	0.00	2.47	15.10	1.320	9222	0.000	0.111	2696	2801	2590	2652	2529	0	0	0	0	0	0	28.83	14.45	13.80
6282	0.59	184.7	2696	2802	2641	2511	201.9	12.2	536	6290	0.12	2.47	0.00	0.000	4612	0.307	0.098	2677	1392	2574	2639	2510	0	0	0	0	0	0	14.32	14.39	28.83
6360	0.63	216.6	2678	1392	2634	2510	193.7	10.2	551	6401	0.00	2.53	32.33	1.285	9222	0.000	0.112	2677	2809	2458	2526	2391	0	0	0	0	0	0	28.83	14.42	13.70
6705	0.70	279.6	2678	2809	2516	2374	158.1	8.5	588	6773	0.00	2.55	58.75	1.271	8708	0.000	0.099	2687	1399	2193	2271	2115	0	0	0	0	0	0	28.83	14.01	13.50
6918	0.79	315.6	2687	1400	2264	2100	137.5	9.9	627	6959	0.00	2.55	32.50	1.240	9222	0.000	0.112	2687	2806	2053	2141	1966	0	0	0	0	0	0	28.83	14.20	13.53
7263	0.88	355.6	2686	2806	2129	1943	101.5	9.7	664	7312	0.20	2.62	35.88	1.222	10756	0.142	0.103	2762	1394	1880	1972	1789	0	0	0	0	0	0	14.26	14.07	13.60
7536	0.88	355.6	2764	1395	1959	1779	65.4	12.7	716	7544	0.00	2.55	0.00	0.000	1030	0.000	0.113	2763	2802	1868	1959	1778	0	0	0	0	0	0	28.83	14.23	28.83
7848	0.94	402.7	2764	2802	1958	1776	29.9	9.3	748	7877	0.00	2.50	20.45	0.262	8708	0.000	0.102	2774	1395	1706	1798	1614	0	0	0	0	0	0	28.83	14.32	14.22
7972	1.09	491.1	2774	1393	1814	1626	18.6	7.1	771	8027	0.15	2.53	47.30	0.229	11270	0.159	0.113	2821	2803	1343	1442	1245	0	0	0	0	0	0	14.35	14.31	14.23
8332	1.33	650.1	2822	2804	1452	1256	7.7	3.2	810	8422	0.25	1.80	83.47	0.198	10500	0.132	0.135	2903	3768	694	778	610	0	0	0	0	0	0	14.40	14.26	14.24
8440	end climb: SURFACE_DEPTH_REACHED
state	8440	begin surface coast
8460	end surface coast: CONTROL_FINISHED_OK
state	8460	begin surface