Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 27 * 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 27 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 22 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 -21653.664 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 -21653.664

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 22 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 27 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 290714,173333,7058.684,-14430.915,16,0.8,36,22.3 SPEED_LIMITS 0.142,0.254

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.71 MHEAD_RNG_PITCHd_Wd 298.4,83239,-21.9,-11.905,-25.13,1887

_SM_ANGLEo -70.4 D_GRID 1000

GPS2 290714,174253,7058.618,-14430.947,4,1.0,25,22.3

Post-dive calculations and measurements:

FINISH 0.7,1.005200 _10V_AH 12.70,0.000

SM_CCo 8412,37.70,0.188,0,0,537,689.05 FG_AHR_24Vo 0.000

SM_GC 2.03,8.25,1.08,37.70,0.099,0.089,0.188,192,2201,537,-7.07,0.82,689.05,0,0,0,0,0,0,14.30,14.32,14.21 FG_AHR_10Vo 0.000

RAFOS_CLK 16 MEM 301088

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 29974,839

IRIDIUM_FIX 7058.96,-15458.99,290714,150423 CAP_FILE_SIZE 131119,0

TT8_MAMPS 0.08239,0.08239 CFSIZE 2097872896,2087583744

HUMID 52.20 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.48503 INTR 0,9152.14,0x2378b6,7,5

TCM_TEMP 11.90 SOUNDSPEED 1450.0

XPDR_PINGS 0 EKF 8526,4259.589844,-8672.457031,0.693525,-0.054044,-0.300750,0.002543,0.000123,0.001154,0.000099,0.001025,0.001025,0.000050

SC_FREEKB 4013884 CURRENT 0.049,101.56,1

TM_FREEKB 7657504 GPS 290714,200514,7059.541,-14431.843,17,0.7,37,22.3

_24V_AH 12.98,60.206

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 468 138.56 nil 0 0 0.00

Roll_motor 95 153 190.05 nil 0 0 0.00

VBD_pump_during_apogee 620 1669 13445.75 nil 0 0 0.00

VBD_pump_during_surface 37 188 92.09 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 8416 15 1700.64

Iridium_during_xfer 350 188 856.60 TMICL 8442 12 1388.78

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.22

TT8 0 0 0.00

LPSleep 5850 2 171.64

TT8_Active 730 10 101.84

TT8_Sampling 2352 29 887.33

TT8_CF8 78 36 36.42

TT8_Kalman 0 0 0.00

Analog_circuits 1924 10 244.41

GPS_charging 0 0 0.00

Compass 1238 5 78.64

RAFOS 1496 48 911.96

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.87 -145.9 180 2198 582 509 0.0 0.0 0 87 0.00 0.00 -65.53 0.000 16386 0.000 0.000 179 2198 2201 2211 2192 0 0 0 0 0 0 28.83 28.83 28.83

88 -0.87 -145.9 180 2199 2214 2193 3.3 -3.4 6 144 10.90 2.62 -32.83 0.000 19204 0.468 0.153 2174 3605 3948 4002 3894 0 0 0 0 0 0 14.07 14.24 14.47

368 -0.78 -145.9 2174 3605 4004 3895 79.9 -24.0 59 376 0.20 2.45 0.00 0.000 3078 0.332 0.093 2214 2197 3948 4002 3894 0 0 0 0 0 0 14.23 14.35 28.83

680 -0.78 -145.9 2215 2196 4002 3895 135.3 -16.7 91 689 0.00 2.55 0.00 0.000 260 0.000 0.130 2205 3614 3950 4002 3898 0 0 0 0 0 0 28.83 14.38 28.83

768 -0.75 -145.9 2205 3614 4004 3902 150.3 -16.7 108 777 0.00 2.42 0.00 0.000 1030 0.000 0.091 2205 2198 3949 4003 3895 0 0 0 0 0 0 28.83 14.42 28.83

1073 -0.75 -145.9 2205 2198 4005 3895 195.2 -13.4 139 1081 0.00 2.55 0.00 0.000 260 0.000 0.130 2196 3615 3948 4002 3895 0 0 0 0 0 0 28.83 14.42 28.83

1115 -0.75 -145.9 2196 3615 4002 3895 201.4 -14.7 147 1123 0.12 2.42 0.00 0.000 3078 0.314 0.090 2219 2198 3948 4002 3895 0 0 0 0 0 0 14.35 14.45 28.83

1428 -0.78 -145.9 2220 2199 4002 3896 238.5 -11.6 179 1435 0.00 2.53 0.00 0.000 260 0.000 0.132 2209 3612 3948 4002 3894 0 0 0 0 0 0 28.83 14.45 28.83

1479 -0.78 -145.9 2210 3613 4002 3895 245.0 -12.6 189 1489 0.00 2.42 0.00 0.000 1030 0.000 0.090 2209 2197 3948 4002 3894 0 0 0 0 0 0 28.83 14.48 28.83

1794 -0.80 -145.9 2211 2198 4002 3897 281.8 -11.5 203 1802 0.00 2.53 0.00 0.000 260 0.000 0.131 2199 3612 3945 3998 3893 0 0 0 0 0 0 28.83 14.48 28.83

1871 -0.80 -145.9 2199 3613 4004 3894 291.5 -13.2 218 1879 0.00 2.42 0.00 0.000 1030 0.000 0.092 2199 2195 3948 4002 3894 0 0 0 0 0 0 28.83 14.51 28.83

2189 -0.80 -145.9 2200 2195 4002 3893 328.9 -11.7 231 2196 0.00 2.55 0.00 0.000 260 0.000 0.132 2188 3619 3947 4002 3892 0 0 0 0 0 0 28.83 14.51 28.83

2260 -0.80 -145.9 2188 3620 4004 3893 338.1 -13.2 245 2270 0.00 2.47 0.00 0.000 1030 0.000 0.091 2186 2175 3947 4002 3892 0 0 0 0 0 0 28.83 14.52 28.83

2584 -0.80 -145.9 2188 2176 4003 3892 377.0 -12.0 259 2592 0.00 2.58 0.00 0.000 260 0.000 0.130 2177 3617 3946 4002 3891 0 0 0 0 0 0 28.83 14.52 28.83

2651 -0.80 -145.9 2178 3617 4003 3892 385.9 -13.3 272 2659 0.15 2.42 0.00 0.000 3078 0.314 0.091 2207 2195 3946 4002 3891 0 0 0 0 0 0 14.44 14.54 28.83

2978 -0.82 -145.9 2207 2196 4004 3897 421.5 -10.8 287 2986 0.00 2.53 0.00 0.000 260 0.000 0.131 2198 3612 3946 4002 3890 0 0 0 0 0 0 28.83 14.53 28.83

3045 -0.82 -145.9 2199 3613 4002 3891 429.4 -11.6 300 3053 0.00 2.40 0.00 0.000 1030 0.000 0.090 2198 2198 3946 4002 3890 0 0 0 0 0 0 28.83 14.56 28.83

3373 -0.84 -145.9 2197 2199 4004 3891 466.9 -11.5 315 3381 0.00 2.53 0.00 0.000 260 0.000 0.130 2187 3621 3946 4002 3890 0 0 0 0 0 0 28.83 14.54 28.83

3400 -0.84 -145.9 2187 3622 4008 3890 470.2 -12.5 320 3409 0.00 2.40 0.00 0.000 1030 0.000 0.090 2187 2201 3946 4002 3890 0 0 0 0 0 0 28.83 14.57 28.83

3674 end dive: TARGET_DEPTH_EXCEEDED

state 3674 begin apogee

3678 -0.16 0.0 2183 2802 4004 3890 502.9 -11.7 330 3866 0.90 0.00 182.82 1.455 10246 0.295 0.000 2410 2801 3347 3401 3293 0 0 0 0 0 0 14.45 28.83 13.21

3867 end apogee: CONTROL_FINISHED_OK

state 3867 begin climb

3868 0.87 145.9 2409 2802 3397 3287 508.5 0.0 336 4011 1.12 1.85 127.70 1.669 10500 0.161 0.130 2739 3770 2740 2789 2692 0 0 0 0 0 0 13.80 13.59 12.98

4085 0.76 145.9 2738 3771 2777 2680 487.8 17.6 372 4094 0.15 1.73 0.00 0.000 5126 0.328 0.090 2719 2795 2727 2777 2678 0 0 0 0 0 0 13.77 13.91 28.83

4418 0.70 145.9 2721 2797 2777 2677 438.6 14.8 388 4426 0.00 2.47 0.00 0.000 516 0.000 0.103 2728 1397 2727 2777 2677 0 0 0 0 0 0 28.83 14.21 28.83

4485 0.66 145.9 2728 1398 2779 2678 429.1 14.3 401 4495 0.20 2.53 0.00 0.000 5126 0.306 0.110 2687 2801 2726 2777 2676 0 0 0 0 0 0 14.17 14.23 28.83

4814 0.62 145.9 2688 2801 2777 2676 386.1 12.7 416 4822 0.00 2.47 0.00 0.000 516 0.000 0.101 2695 1394 2726 2777 2676 0 0 0 0 0 0 28.83 14.35 28.83

4881 0.60 145.9 2697 1391 2777 2676 378.2 11.9 429 4891 0.12 2.50 0.00 0.000 5126 0.308 0.110 2671 2801 2726 2777 2675 0 0 0 0 0 0 14.27 14.37 28.83

5210 0.58 146.3 2667 2801 2778 2676 339.4 11.9 444 5219 0.00 2.45 0.00 0.000 516 0.000 0.100 2680 1394 2726 2777 2675 0 0 0 0 0 0 28.83 14.43 28.83

5282 0.59 154.1 2681 1395 2777 2676 331.1 11.5 458 5291 0.00 2.47 0.00 0.000 1030 0.000 0.111 2680 2798 2726 2777 2675 0 0 0 0 0 0 28.83 14.43 28.83

5606 0.57 154.1 2680 2799 2778 2676 291.7 12.2 472 5614 0.00 2.45 0.00 0.000 516 0.000 0.100 2690 1386 2725 2777 2673 0 0 0 0 0 0 28.83 14.50 28.83

5703 0.59 171.3 2691 1386 2778 2676 280.4 11.0 491 5730 0.00 2.50 21.20 1.432 9222 0.000 0.111 2690 2802 2650 2706 2594 0 0 0 0 0 0 28.83 14.48 13.76

6034 0.56 171.3 2690 2802 2687 2565 237.9 12.9 512 6042 0.15 2.47 0.00 0.000 4612 0.308 0.100 2668 1387 2625 2686 2564 0 0 0 0 0 0 14.32 14.42 28.83

6117 0.59 194.1 2668 1388 2687 2564 228.9 10.7 528 6145 0.00 2.50 19.23 1.355 9222 0.000 0.112 2668 2798 2545 2609 2482 0 0 0 0 0 0 28.83 14.40 13.74

6439 0.63 221.0 2669 2798 2600 2466 192.5 10.4 562 6470 0.00 2.58 23.33 1.323 8708 0.000 0.101 2678 1392 2438 2508 2369 0 0 0 0 0 0 28.83 14.22 13.71

6529 0.68 243.5 2684 1393 2493 2352 183.0 10.7 578 6559 0.00 2.53 19.45 1.306 9222 0.000 0.111 2678 2801 2345 2415 2276 0 0 0 0 0 0 28.83 14.26 13.63

6853 0.74 278.2 2682 2801 2406 2259 148.3 10.0 612 6896 0.00 2.53 31.70 1.284 8708 0.000 0.099 2689 1394 2198 2277 2120 0 0 0 0 0 0 28.83 14.10 13.63

7060 0.85 327.5 2688 1395 2272 2108 128.0 9.2 651 7116 0.17 2.55 44.42 1.279 11270 0.148 0.112 2746 2808 2000 2089 1911 0 0 0 0 0 0 14.28 14.24 13.50

7420 0.85 327.5 2747 2808 2078 1888 78.8 13.0 690 7428 0.00 2.53 0.00 0.000 516 0.000 0.103 2756 1389 1981 2078 1885 0 0 0 0 0 0 28.83 14.26 28.83

7602 0.86 340.9 2758 1390 2077 1887 56.6 11.2 726 7616 0.00 2.53 3.30 0.213 9222 0.000 0.112 2757 2801 1960 2052 1868 0 0 0 0 0 0 28.83 14.33 14.22

7912 0.94 403.8 2756 2801 2068 1891 25.3 8.5 758 7953 0.00 2.58 33.88 0.248 8708 0.000 0.103 2767 1388 1698 1793 1603 0 0 0 0 0 0 28.83 14.33 14.27

8143 1.28 619.4 2767 1389 1809 1620 14.4 0.2 802 8263 0.35 2.53 113.55 0.215 11270 0.120 0.110 2884 2805 823 904 743 0 0 0 0 0 0 14.40 14.38 14.16

8371 end climb: SURFACE_DEPTH_REACHED

state 8371 begin surface coast

8391 end surface coast: CONTROL_FINISHED_OK

state 8391 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	27	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	22	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	-21653.664	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	290714,173333,7058.684,-14430.915,16,0.8,36,22.3	SPEED_LIMITS	0.142,0.254
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.71	MHEAD_RNG_PITCHd_Wd	298.4,83239,-21.9,-11.905,-25.13,1887
_SM_ANGLEo	-70.4	D_GRID	1000
GPS2	290714,174253,7058.618,-14430.947,4,1.0,25,22.3

FINISH	0.7,1.005200	_10V_AH	12.70,0.000
SM_CCo	8412,37.70,0.188,0,0,537,689.05	FG_AHR_24Vo	0.000
SM_GC	2.03,8.25,1.08,37.70,0.099,0.089,0.188,192,2201,537,-7.07,0.82,689.05,0,0,0,0,0,0,14.30,14.32,14.21	FG_AHR_10Vo	0.000
RAFOS_CLK	16	MEM	301088
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	29974,839
IRIDIUM_FIX	7058.96,-15458.99,290714,150423	CAP_FILE_SIZE	131119,0
TT8_MAMPS	0.08239,0.08239	CFSIZE	2097872896,2087583744
HUMID	52.20	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.48503	INTR	0,9152.14,0x2378b6,7,5
TCM_TEMP	11.90	SOUNDSPEED	1450.0
XPDR_PINGS	0	EKF	8526,4259.589844,-8672.457031,0.693525,-0.054044,-0.300750,0.002543,0.000123,0.001154,0.000099,0.001025,0.001025,0.000050
SC_FREEKB	4013884	CURRENT	0.049,101.56,1
TM_FREEKB	7657504	GPS	290714,200514,7059.541,-14431.843,17,0.7,37,22.3
_24V_AH	12.98,60.206

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	468	138.56	nil	0	0	0.00
Roll_motor	95	153	190.05	nil	0	0	0.00
VBD_pump_during_apogee	620	1669	13445.75	nil	0	0	0.00
VBD_pump_during_surface	37	188	92.09	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	8416	15	1700.64
Iridium_during_xfer	350	188	856.60	TMICL	8442	12	1388.78
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.22
TT8	0	0	0.00
LPSleep	5850	2	171.64
TT8_Active	730	10	101.84
TT8_Sampling	2352	29	887.33
TT8_CF8	78	36	36.42
TT8_Kalman	0	0	0.00
Analog_circuits	1924	10	244.41
GPS_charging	0	0	0.00
Compass	1238	5	78.64
RAFOS	1496	48	911.96
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.87	-145.9	180	2198	582	509	0.0	0.0	0	87	0.00	0.00	-65.53	0.000	16386	0.000	0.000	179	2198	2201	2211	2192	0	0	0	0	0	0	28.83	28.83	28.83
88	-0.87	-145.9	180	2199	2214	2193	3.3	-3.4	6	144	10.90	2.62	-32.83	0.000	19204	0.468	0.153	2174	3605	3948	4002	3894	0	0	0	0	0	0	14.07	14.24	14.47
368	-0.78	-145.9	2174	3605	4004	3895	79.9	-24.0	59	376	0.20	2.45	0.00	0.000	3078	0.332	0.093	2214	2197	3948	4002	3894	0	0	0	0	0	0	14.23	14.35	28.83
680	-0.78	-145.9	2215	2196	4002	3895	135.3	-16.7	91	689	0.00	2.55	0.00	0.000	260	0.000	0.130	2205	3614	3950	4002	3898	0	0	0	0	0	0	28.83	14.38	28.83
768	-0.75	-145.9	2205	3614	4004	3902	150.3	-16.7	108	777	0.00	2.42	0.00	0.000	1030	0.000	0.091	2205	2198	3949	4003	3895	0	0	0	0	0	0	28.83	14.42	28.83
1073	-0.75	-145.9	2205	2198	4005	3895	195.2	-13.4	139	1081	0.00	2.55	0.00	0.000	260	0.000	0.130	2196	3615	3948	4002	3895	0	0	0	0	0	0	28.83	14.42	28.83
1115	-0.75	-145.9	2196	3615	4002	3895	201.4	-14.7	147	1123	0.12	2.42	0.00	0.000	3078	0.314	0.090	2219	2198	3948	4002	3895	0	0	0	0	0	0	14.35	14.45	28.83
1428	-0.78	-145.9	2220	2199	4002	3896	238.5	-11.6	179	1435	0.00	2.53	0.00	0.000	260	0.000	0.132	2209	3612	3948	4002	3894	0	0	0	0	0	0	28.83	14.45	28.83
1479	-0.78	-145.9	2210	3613	4002	3895	245.0	-12.6	189	1489	0.00	2.42	0.00	0.000	1030	0.000	0.090	2209	2197	3948	4002	3894	0	0	0	0	0	0	28.83	14.48	28.83
1794	-0.80	-145.9	2211	2198	4002	3897	281.8	-11.5	203	1802	0.00	2.53	0.00	0.000	260	0.000	0.131	2199	3612	3945	3998	3893	0	0	0	0	0	0	28.83	14.48	28.83
1871	-0.80	-145.9	2199	3613	4004	3894	291.5	-13.2	218	1879	0.00	2.42	0.00	0.000	1030	0.000	0.092	2199	2195	3948	4002	3894	0	0	0	0	0	0	28.83	14.51	28.83
2189	-0.80	-145.9	2200	2195	4002	3893	328.9	-11.7	231	2196	0.00	2.55	0.00	0.000	260	0.000	0.132	2188	3619	3947	4002	3892	0	0	0	0	0	0	28.83	14.51	28.83
2260	-0.80	-145.9	2188	3620	4004	3893	338.1	-13.2	245	2270	0.00	2.47	0.00	0.000	1030	0.000	0.091	2186	2175	3947	4002	3892	0	0	0	0	0	0	28.83	14.52	28.83
2584	-0.80	-145.9	2188	2176	4003	3892	377.0	-12.0	259	2592	0.00	2.58	0.00	0.000	260	0.000	0.130	2177	3617	3946	4002	3891	0	0	0	0	0	0	28.83	14.52	28.83
2651	-0.80	-145.9	2178	3617	4003	3892	385.9	-13.3	272	2659	0.15	2.42	0.00	0.000	3078	0.314	0.091	2207	2195	3946	4002	3891	0	0	0	0	0	0	14.44	14.54	28.83
2978	-0.82	-145.9	2207	2196	4004	3897	421.5	-10.8	287	2986	0.00	2.53	0.00	0.000	260	0.000	0.131	2198	3612	3946	4002	3890	0	0	0	0	0	0	28.83	14.53	28.83
3045	-0.82	-145.9	2199	3613	4002	3891	429.4	-11.6	300	3053	0.00	2.40	0.00	0.000	1030	0.000	0.090	2198	2198	3946	4002	3890	0	0	0	0	0	0	28.83	14.56	28.83
3373	-0.84	-145.9	2197	2199	4004	3891	466.9	-11.5	315	3381	0.00	2.53	0.00	0.000	260	0.000	0.130	2187	3621	3946	4002	3890	0	0	0	0	0	0	28.83	14.54	28.83
3400	-0.84	-145.9	2187	3622	4008	3890	470.2	-12.5	320	3409	0.00	2.40	0.00	0.000	1030	0.000	0.090	2187	2201	3946	4002	3890	0	0	0	0	0	0	28.83	14.57	28.83
3674	end dive: TARGET_DEPTH_EXCEEDED
state	3674	begin apogee
3678	-0.16	0.0	2183	2802	4004	3890	502.9	-11.7	330	3866	0.90	0.00	182.82	1.455	10246	0.295	0.000	2410	2801	3347	3401	3293	0	0	0	0	0	0	14.45	28.83	13.21
3867	end apogee: CONTROL_FINISHED_OK
state	3867	begin climb
3868	0.87	145.9	2409	2802	3397	3287	508.5	0.0	336	4011	1.12	1.85	127.70	1.669	10500	0.161	0.130	2739	3770	2740	2789	2692	0	0	0	0	0	0	13.80	13.59	12.98
4085	0.76	145.9	2738	3771	2777	2680	487.8	17.6	372	4094	0.15	1.73	0.00	0.000	5126	0.328	0.090	2719	2795	2727	2777	2678	0	0	0	0	0	0	13.77	13.91	28.83
4418	0.70	145.9	2721	2797	2777	2677	438.6	14.8	388	4426	0.00	2.47	0.00	0.000	516	0.000	0.103	2728	1397	2727	2777	2677	0	0	0	0	0	0	28.83	14.21	28.83
4485	0.66	145.9	2728	1398	2779	2678	429.1	14.3	401	4495	0.20	2.53	0.00	0.000	5126	0.306	0.110	2687	2801	2726	2777	2676	0	0	0	0	0	0	14.17	14.23	28.83
4814	0.62	145.9	2688	2801	2777	2676	386.1	12.7	416	4822	0.00	2.47	0.00	0.000	516	0.000	0.101	2695	1394	2726	2777	2676	0	0	0	0	0	0	28.83	14.35	28.83
4881	0.60	145.9	2697	1391	2777	2676	378.2	11.9	429	4891	0.12	2.50	0.00	0.000	5126	0.308	0.110	2671	2801	2726	2777	2675	0	0	0	0	0	0	14.27	14.37	28.83
5210	0.58	146.3	2667	2801	2778	2676	339.4	11.9	444	5219	0.00	2.45	0.00	0.000	516	0.000	0.100	2680	1394	2726	2777	2675	0	0	0	0	0	0	28.83	14.43	28.83
5282	0.59	154.1	2681	1395	2777	2676	331.1	11.5	458	5291	0.00	2.47	0.00	0.000	1030	0.000	0.111	2680	2798	2726	2777	2675	0	0	0	0	0	0	28.83	14.43	28.83
5606	0.57	154.1	2680	2799	2778	2676	291.7	12.2	472	5614	0.00	2.45	0.00	0.000	516	0.000	0.100	2690	1386	2725	2777	2673	0	0	0	0	0	0	28.83	14.50	28.83
5703	0.59	171.3	2691	1386	2778	2676	280.4	11.0	491	5730	0.00	2.50	21.20	1.432	9222	0.000	0.111	2690	2802	2650	2706	2594	0	0	0	0	0	0	28.83	14.48	13.76
6034	0.56	171.3	2690	2802	2687	2565	237.9	12.9	512	6042	0.15	2.47	0.00	0.000	4612	0.308	0.100	2668	1387	2625	2686	2564	0	0	0	0	0	0	14.32	14.42	28.83
6117	0.59	194.1	2668	1388	2687	2564	228.9	10.7	528	6145	0.00	2.50	19.23	1.355	9222	0.000	0.112	2668	2798	2545	2609	2482	0	0	0	0	0	0	28.83	14.40	13.74
6439	0.63	221.0	2669	2798	2600	2466	192.5	10.4	562	6470	0.00	2.58	23.33	1.323	8708	0.000	0.101	2678	1392	2438	2508	2369	0	0	0	0	0	0	28.83	14.22	13.71
6529	0.68	243.5	2684	1393	2493	2352	183.0	10.7	578	6559	0.00	2.53	19.45	1.306	9222	0.000	0.111	2678	2801	2345	2415	2276	0	0	0	0	0	0	28.83	14.26	13.63
6853	0.74	278.2	2682	2801	2406	2259	148.3	10.0	612	6896	0.00	2.53	31.70	1.284	8708	0.000	0.099	2689	1394	2198	2277	2120	0	0	0	0	0	0	28.83	14.10	13.63
7060	0.85	327.5	2688	1395	2272	2108	128.0	9.2	651	7116	0.17	2.55	44.42	1.279	11270	0.148	0.112	2746	2808	2000	2089	1911	0	0	0	0	0	0	14.28	14.24	13.50
7420	0.85	327.5	2747	2808	2078	1888	78.8	13.0	690	7428	0.00	2.53	0.00	0.000	516	0.000	0.103	2756	1389	1981	2078	1885	0	0	0	0	0	0	28.83	14.26	28.83
7602	0.86	340.9	2758	1390	2077	1887	56.6	11.2	726	7616	0.00	2.53	3.30	0.213	9222	0.000	0.112	2757	2801	1960	2052	1868	0	0	0	0	0	0	28.83	14.33	14.22
7912	0.94	403.8	2756	2801	2068	1891	25.3	8.5	758	7953	0.00	2.58	33.88	0.248	8708	0.000	0.103	2767	1388	1698	1793	1603	0	0	0	0	0	0	28.83	14.33	14.27
8143	1.28	619.4	2767	1389	1809	1620	14.4	0.2	802	8263	0.35	2.53	113.55	0.215	11270	0.120	0.110	2884	2805	823	904	743	0	0	0	0	0	0	14.40	14.38	14.16
8371	end climb: SURFACE_DEPTH_REACHED
state	8371	begin surface coast
8391	end surface coast: CONTROL_FINISHED_OK
state	8391	begin surface