Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 32 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 0 C_ROLL_CLIMB 2840 ALTIM_FREQUENCY 13

MISSION 7 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 32 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 49 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 20 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 681.01007 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.75

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 3317 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 3 PITCH_VBD_SHIFT 0.00069999998 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 20 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -4714.3237 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 1.5 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044209026

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00065043929

T_WATCHDOG 10 PITCH_MIN 208 MINV_10V 11 SEABIRD_T_I 2.5803243e-05

RELAUNCH 1 PITCH_MAX 3896 FG_AHR_10V 0 SEABIRD_T_J 3.1106315e-06

APOGEE_PITCH -5 C_PITCH 2909 FG_AHR_24V 0 SEABIRD_C_G -9.7475271

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1204907

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -73.350418 SEABIRD_C_I -0.00083350006

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001164176 SEABIRD_C_J 0.00013962483

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 38 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54281 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 0.02 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 10 TM_LOGSAMPLE 0.0

HD_A 0.0043000001 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3787 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 4.3e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 400

HEADING -1 C_ROLL_DIVE 2700 ALTIM_PING_DELTA 20

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 500 PITCH_GAIN 38 SURFACE_URGENCY_FORCE 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3896 SURFACE_URGENCY_TRY 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 10 FERRY_MAX 45 PITCH_MIN 208 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 20 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 TGT_DEFAULT_LAT 4736

ALTIM_PING_DEPTH 400 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 30 PRESSURE_SLOPE 0.0001164176 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -73.350418 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0043000001 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 4.3e-06 P_OVSHOOT_WITHG 0 T_ABORT 1440

CALL_NDIVES 1 HEADING -1 RAFOS_CORR_THRESH 60 T_BOOST 4

CALL_TRIES 3 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 140

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_GPS 3

CAPUPLOAD 0 ID 196 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -4714.3237

COMM_SEQ 0 INT_PRESSURE_YINT 0.75 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 2909 LOGGERDEVICE4 -1 ROLL_MAX 3787 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2840 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2700 MASS 54281 ROLL_MIN 218 UNCOM_BLEED 20

C_VBD 3317 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 49 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 20 USE_ICE 0

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 7 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 -9.7475271 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1204907 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.00083350006 VBD_MIN 500

DIVE 32 N_FILEKB 8 SEABIRD_C_J 0.00013962483 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 N_GPS -20 SEABIRD_T_G 0.0044209026 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00065043929 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.5803243e-05 W_ADJ_DBAND 0

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.1106315e-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 0.02 SM_CC 681.01007

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 300714,140126,7108.035,-14417.423,14,0.8,34,22.4 SPEED_LIMITS 0.206,0.254

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.39 MHEAD_RNG_PITCHd_Wd 334.3,51906,-22.8,-11.905,-25.14,1887

_SM_ANGLEo -78.5 D_GRID 1000

GPS2 300714,141138,7108.065,-14417.190,5,0.8,26,22.4

Post-dive calculations and measurements:

FINISH 0.4,1.015602 _10V_AH 13.22,0.000

SM_CCo 8306,25.55,0.206,0,0,539,681.20 FG_AHR_24Vo 0.000

SM_GC 3.19,9.68,2.28,25.55,0.089,0.095,0.206,205,2698,539,-8.41,-0.68,681.20,0,0,0,0,0,0,14.32,14.29,14.21 FG_AHR_10Vo 0.000

RAFOS_CLK 91 MEM 300916

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 23431,708

IRIDIUM_FIX 7032.78,-14426.20,300714,113149 CAP_FILE_SIZE 127345,0

TT8_MAMPS 0.043442,0.043442 CFSIZE 2097872896,2085158912

HUMID 44.84 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.60186 INTR 0,9184.36,0x2378b6,7,5

TCM_TEMP 12.70 SOUNDSPEED 1448.7

XPDR_PINGS 4 EKF 8404,4269.168457,-8657.098633,0.448324,0.010027,0.026267,0.003405,0.000143,0.001370,0.000095,0.000525,0.000525,0.000034

SC_FREEKB 3923808 CURRENT 0.049,81.34,1

TM_FREEKB 7548436 GPS 300714,163156,7109.202,-14416.417,20,0.8,40,22.4

_24V_AH 13.06,11.553

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 404 132.39 nil 0 0 0.00

Roll_motor 72 123 117.14 nil 0 0 0.00

VBD_pump_during_apogee 512 1743 11676.65 nil 0 0 0.00

VBD_pump_during_surface 25 205 68.67 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 8295 15 1648.50

Iridium_during_xfer 382 182 909.52 TMICL 8349 13 1425.45

Transponder_ping 2 420 13.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.69

TT8 0 0 0.00

LPSleep 6042 2 184.53

TT8_Active 696 9 87.16

TT8_Sampling 2123 28 812.57

TT8_CF8 83 35 39.29

TT8_Kalman 0 0 0.00

Analog_circuits 1741 10 230.25

GPS_charging 0 0 0.00

Compass 1053 0 10.44

RAFOS 1495 48 948.67

Transponder 13 30 5.40

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -0.70 -145.9 203 2709 451 527 0.0 0.0 0 87 0.00 0.00 -63.50 0.000 16386 0.000 0.000 207 2708 2170 2179 2162 0 0 0 0 0 0 28.83 28.83 28.83

89 -0.70 -145.9 202 2709 2180 2166 3.5 -4.1 6 138 12.18 2.47 -29.62 0.000 19204 0.405 0.095 2672 1307 3913 3976 3851 0 0 0 0 0 0 14.05 14.27 14.46

202 -0.56 -145.9 2673 1308 3977 3855 31.5 -21.0 26 212 0.28 2.47 0.00 0.000 3078 0.295 0.097 2724 2697 3916 3976 3856 0 0 0 0 0 0 14.18 14.27 28.83

516 -0.56 -145.9 2725 2697 3971 3858 88.0 -15.6 58 525 0.00 1.92 0.00 0.000 260 0.000 0.108 2718 3792 3917 3976 3858 0 0 0 0 0 0 28.83 14.40 28.83

549 -0.56 -145.9 2719 3793 3977 3859 93.4 -16.1 64 557 0.00 1.83 0.00 0.000 1030 0.000 0.057 2718 2694 3917 3976 3858 0 0 0 0 0 0 28.83 14.42 28.83

861 -0.60 -145.9 2719 2695 3977 3859 139.4 -13.7 96 869 0.00 1.95 0.00 0.000 260 0.000 0.109 2709 3792 3917 3976 3858 0 0 0 0 0 0 28.83 14.39 28.83

913 -0.60 -145.9 2710 3793 3976 3859 147.1 -15.3 106 922 0.00 1.83 0.00 0.000 1030 0.000 0.060 2709 2702 3917 3976 3858 0 0 0 0 0 0 28.83 14.46 28.83

1227 -0.65 -145.9 2710 2702 3976 3858 186.9 -11.2 138 1229 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 2702 3917 3976 3858 0 0 0 0 0 0 28.83 28.83 28.83

1526 -0.73 -145.9 2710 2702 3977 3858 219.8 -10.8 168 1529 0.12 0.00 0.00 0.000 4102 0.138 0.000 2657 2702 3915 3976 3854 0 0 0 0 0 0 14.50 28.83 28.83

1846 -0.73 -145.9 2657 2703 3975 3859 262.9 -13.5 194 1849 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2702 3915 3974 3857 0 0 0 0 0 0 28.83 28.83 28.83

2146 -0.73 -145.9 2657 2703 3974 3857 302.0 -13.0 204 2154 0.00 1.90 0.00 0.000 260 0.000 0.109 2648 3786 3915 3973 3858 0 0 0 0 0 0 28.83 14.50 28.83

2198 -0.69 -145.9 2649 3786 3973 3858 309.4 -14.9 214 2208 0.12 1.80 0.00 0.000 3078 0.245 0.061 2681 2709 3915 3972 3858 0 0 0 0 0 0 14.40 14.55 28.83

2513 -0.74 -145.9 2682 2710 3973 3859 345.8 -11.3 226 2516 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2709 3915 3972 3858 0 0 0 0 0 0 28.83 28.83 28.83

2813 -0.80 -145.9 2682 2710 3972 3859 379.0 -11.0 236 2821 0.00 1.90 0.00 0.000 260 0.000 0.110 2675 3791 3914 3971 3857 0 0 0 0 0 0 28.83 14.52 28.83

2890 -0.80 -145.9 2676 3792 3971 3858 388.4 -12.2 251 2898 0.00 1.83 0.00 0.000 1030 0.000 0.060 2675 2694 3914 3970 3858 0 0 0 0 0 0 28.83 14.57 28.83

3207 -0.84 -145.9 2675 2694 3971 3858 424.6 -11.4 264 3210 0.12 0.00 0.00 0.000 4102 0.139 0.000 2626 2694 3913 3969 3858 0 0 0 0 0 0 14.56 28.83 28.83

3506 -0.84 -145.9 2626 2695 3965 3858 466.4 -14.0 274 3517 0.00 1.95 0.00 0.000 260 0.000 0.108 2617 3785 3913 3969 3857 0 0 0 0 0 0 28.83 14.53 28.83

3606 -0.76 -145.9 2618 3785 3970 3857 481.9 -15.7 293 3615 0.17 1.75 0.00 0.000 3078 0.269 0.060 2656 2702 3913 3969 3857 0 0 0 0 0 0 14.45 14.59 28.83

3754 end dive: TARGET_DEPTH_EXCEEDED

state 3754 begin apogee

3757 -0.13 0.0 2663 2847 3970 3857 500.4 -11.9 302 3883 0.75 0.00 121.78 1.743 10246 0.238 0.000 2857 2847 3316 3337 3295 0 0 0 0 0 0 14.45 28.83 13.18

3885 end apogee: CONTROL_FINISHED_OK

state 3885 begin climb

3886 0.70 145.9 2857 2847 3334 3289 503.8 0.0 306 4017 0.93 0.00 121.30 1.639 10246 0.138 0.000 3128 2848 2719 2726 2713 0 0 0 0 0 0 13.83 28.83 13.06

4294 0.62 145.9 3128 2845 2726 2702 458.1 13.7 320 4301 0.00 2.45 0.00 0.000 516 0.000 0.072 3139 1439 2713 2724 2702 0 0 0 0 0 0 28.83 14.15 28.83

4340 0.62 145.9 3139 1439 2725 2702 451.9 12.7 329 4349 0.00 2.53 0.00 0.000 1030 0.000 0.097 3138 2843 2713 2724 2702 0 0 0 0 0 0 28.83 14.17 28.83

4659 0.53 145.9 3140 2844 2725 2702 406.3 14.4 342 4662 0.22 0.00 0.00 0.000 4102 0.265 0.000 3087 2844 2712 2724 2701 0 0 0 0 0 0 14.21 28.83 28.83

4958 0.54 163.4 3088 2844 2725 2701 372.4 11.0 352 4980 0.00 2.47 15.38 1.505 8708 0.000 0.070 3095 1446 2644 2656 2633 0 0 0 0 0 0 28.83 14.28 13.69

5009 0.62 192.2 3096 1447 2655 2634 366.9 10.3 361 5042 0.00 2.50 24.45 1.600 9222 0.000 0.097 3096 2845 2527 2537 2517 0 0 0 0 0 0 28.83 14.28 13.54

5361 0.62 192.2 3096 2845 2537 2512 323.0 12.5 380 5369 0.00 2.40 0.00 0.000 516 0.000 0.072 3105 1444 2524 2537 2512 0 0 0 0 0 0 28.83 14.33 28.83

5413 0.67 193.0 3106 1444 2538 2512 316.8 11.9 390 5423 0.00 2.47 0.00 0.000 1030 0.000 0.097 3105 2839 2524 2537 2512 0 0 0 0 0 0 28.83 14.33 28.83

5727 0.67 193.0 3112 2840 2538 2512 275.5 13.3 402 5737 0.00 2.38 0.00 0.000 516 0.000 0.072 3114 1439 2524 2537 2511 0 0 0 0 0 0 28.83 14.45 28.83

5761 0.72 199.3 3115 1439 2538 2512 271.2 11.6 408 5775 0.00 2.47 3.97 1.369 9222 0.000 0.097 3114 2839 2510 2521 2499 0 0 0 0 0 0 28.83 14.42 13.57

6074 0.72 199.3 3115 2840 2532 2495 229.6 12.9 432 6082 0.00 2.38 1.05 0.331 8708 0.000 0.068 3124 1443 2508 2527 2489 0 0 0 0 0 0 28.83 14.44 14.16

6121 0.72 201.1 3125 1443 2533 2493 223.8 11.8 441 6131 0.00 2.47 2.75 0.979 9222 0.000 0.097 3125 2841 2500 2517 2484 0 0 0 0 0 0 28.83 14.43 13.59

6427 0.72 201.1 3125 2842 2529 2489 185.2 12.1 472 6444 0.00 2.42 1.75 0.453 8708 0.000 0.071 3132 1451 2503 2522 2484 0 0 0 0 0 0 28.83 14.41 14.16

6473 0.72 209.7 3132 1452 2528 2491 179.9 11.4 479 6494 0.00 2.45 11.57 1.340 9222 0.000 0.097 3131 2839 2457 2471 2444 0 0 0 0 0 0 28.83 14.39 13.81

6789 0.74 240.6 3132 2839 2472 2444 144.4 10.2 512 6824 0.00 2.45 27.02 1.389 8708 0.000 0.069 3139 1440 2327 2332 2323 0 0 0 0 0 0 28.83 14.16 13.64

6888 0.84 276.6 3140 1440 2334 2323 134.6 9.9 530 6925 0.12 2.53 30.25 1.318 11270 0.129 0.098 3191 2846 2189 2189 2189 0 0 0 0 0 0 14.22 14.19 13.53

7229 0.84 276.6 3192 2845 2186 2179 87.9 13.7 566 7238 0.00 2.42 0.00 0.000 516 0.000 0.071 3200 1440 2181 2186 2177 0 0 0 0 0 0 28.83 14.23 28.83

7267 0.84 276.6 3201 1438 2185 2176 83.0 12.7 573 7276 0.00 2.53 0.00 0.000 1030 0.000 0.096 3200 2845 2180 2185 2176 0 0 0 0 0 0 28.83 14.22 28.83

7572 0.89 338.2 3201 2845 2184 2173 47.2 8.5 604 7606 0.00 2.42 26.05 0.329 8708 0.000 0.069 3209 1442 1937 1929 1946 0 0 0 0 0 0 28.83 14.23 14.11

7665 1.00 399.0 3210 1442 1933 1945 38.8 8.6 621 7701 0.00 2.53 27.45 0.316 9222 0.000 0.097 3209 2846 1690 1682 1699 0 0 0 0 0 0 28.83 14.26 14.06

7995 1.31 623.3 3209 2846 1686 1688 11.5 -0.3 656 8103 0.35 2.42 98.05 0.227 10756 0.083 0.073 3341 1449 771 756 787 0 0 0 0 0 0 14.30 14.21 14.09

8242 end climb: SURFACE_DEPTH_REACHED

state 8242 begin surface coast

8282 end surface coast: CONTROL_FINISHED_OK

state 8282 begin surface

ID	196	ESCAPE_HEADING	0	C_ROLL_CLIMB	2840	ALTIM_FREQUENCY	13
MISSION	7	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	32	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	49	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	20	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	681.01007	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.75
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	3317	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	3	PITCH_VBD_SHIFT	0.00069999998	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	20	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-4714.3237	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	1.5	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044209026
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00065043929
T_WATCHDOG	10	PITCH_MIN	208	MINV_10V	11	SEABIRD_T_I	2.5803243e-05
RELAUNCH	1	PITCH_MAX	3896	FG_AHR_10V	0	SEABIRD_T_J	3.1106315e-06
APOGEE_PITCH	-5	C_PITCH	2909	FG_AHR_24V	0	SEABIRD_C_G	-9.7475271
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1204907
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-73.350418	SEABIRD_C_I	-0.00083350006
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001164176	SEABIRD_C_J	0.00013962483
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	38	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54281	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	0.02	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	10	TM_LOGSAMPLE	0.0
HD_A	0.0043000001	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3787	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	4.3e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	400
HEADING	-1	C_ROLL_DIVE	2700	ALTIM_PING_DELTA	20

GPS1	300714,140126,7108.035,-14417.423,14,0.8,34,22.4	SPEED_LIMITS	0.206,0.254
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.39	MHEAD_RNG_PITCHd_Wd	334.3,51906,-22.8,-11.905,-25.14,1887
_SM_ANGLEo	-78.5	D_GRID	1000
GPS2	300714,141138,7108.065,-14417.190,5,0.8,26,22.4

FINISH	0.4,1.015602	_10V_AH	13.22,0.000
SM_CCo	8306,25.55,0.206,0,0,539,681.20	FG_AHR_24Vo	0.000
SM_GC	3.19,9.68,2.28,25.55,0.089,0.095,0.206,205,2698,539,-8.41,-0.68,681.20,0,0,0,0,0,0,14.32,14.29,14.21	FG_AHR_10Vo	0.000
RAFOS_CLK	91	MEM	300916
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	23431,708
IRIDIUM_FIX	7032.78,-14426.20,300714,113149	CAP_FILE_SIZE	127345,0
TT8_MAMPS	0.043442,0.043442	CFSIZE	2097872896,2085158912
HUMID	44.84	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.60186	INTR	0,9184.36,0x2378b6,7,5
TCM_TEMP	12.70	SOUNDSPEED	1448.7
XPDR_PINGS	4	EKF	8404,4269.168457,-8657.098633,0.448324,0.010027,0.026267,0.003405,0.000143,0.001370,0.000095,0.000525,0.000525,0.000034
SC_FREEKB	3923808	CURRENT	0.049,81.34,1
TM_FREEKB	7548436	GPS	300714,163156,7109.202,-14416.417,20,0.8,40,22.4
_24V_AH	13.06,11.553

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	404	132.39	nil	0	0	0.00
Roll_motor	72	123	117.14	nil	0	0	0.00
VBD_pump_during_apogee	512	1743	11676.65	nil	0	0	0.00
VBD_pump_during_surface	25	205	68.67	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	8295	15	1648.50
Iridium_during_xfer	382	182	909.52	TMICL	8349	13	1425.45
Transponder_ping	2	420	13.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.69
TT8	0	0	0.00
LPSleep	6042	2	184.53
TT8_Active	696	9	87.16
TT8_Sampling	2123	28	812.57
TT8_CF8	83	35	39.29
TT8_Kalman	0	0	0.00
Analog_circuits	1741	10	230.25
GPS_charging	0	0	0.00
Compass	1053	0	10.44
RAFOS	1495	48	948.67
Transponder	13	30	5.40

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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-0.70	-145.9	203	2709	451	527	0.0	0.0	0	87	0.00	0.00	-63.50	0.000	16386	0.000	0.000	207	2708	2170	2179	2162	0	0	0	0	0	0	28.83	28.83	28.83
89	-0.70	-145.9	202	2709	2180	2166	3.5	-4.1	6	138	12.18	2.47	-29.62	0.000	19204	0.405	0.095	2672	1307	3913	3976	3851	0	0	0	0	0	0	14.05	14.27	14.46
202	-0.56	-145.9	2673	1308	3977	3855	31.5	-21.0	26	212	0.28	2.47	0.00	0.000	3078	0.295	0.097	2724	2697	3916	3976	3856	0	0	0	0	0	0	14.18	14.27	28.83
516	-0.56	-145.9	2725	2697	3971	3858	88.0	-15.6	58	525	0.00	1.92	0.00	0.000	260	0.000	0.108	2718	3792	3917	3976	3858	0	0	0	0	0	0	28.83	14.40	28.83
549	-0.56	-145.9	2719	3793	3977	3859	93.4	-16.1	64	557	0.00	1.83	0.00	0.000	1030	0.000	0.057	2718	2694	3917	3976	3858	0	0	0	0	0	0	28.83	14.42	28.83
861	-0.60	-145.9	2719	2695	3977	3859	139.4	-13.7	96	869	0.00	1.95	0.00	0.000	260	0.000	0.109	2709	3792	3917	3976	3858	0	0	0	0	0	0	28.83	14.39	28.83
913	-0.60	-145.9	2710	3793	3976	3859	147.1	-15.3	106	922	0.00	1.83	0.00	0.000	1030	0.000	0.060	2709	2702	3917	3976	3858	0	0	0	0	0	0	28.83	14.46	28.83
1227	-0.65	-145.9	2710	2702	3976	3858	186.9	-11.2	138	1229	0.00	0.00	0.00	0.000	6	0.000	0.000	2710	2702	3917	3976	3858	0	0	0	0	0	0	28.83	28.83	28.83
1526	-0.73	-145.9	2710	2702	3977	3858	219.8	-10.8	168	1529	0.12	0.00	0.00	0.000	4102	0.138	0.000	2657	2702	3915	3976	3854	0	0	0	0	0	0	14.50	28.83	28.83
1846	-0.73	-145.9	2657	2703	3975	3859	262.9	-13.5	194	1849	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2702	3915	3974	3857	0	0	0	0	0	0	28.83	28.83	28.83
2146	-0.73	-145.9	2657	2703	3974	3857	302.0	-13.0	204	2154	0.00	1.90	0.00	0.000	260	0.000	0.109	2648	3786	3915	3973	3858	0	0	0	0	0	0	28.83	14.50	28.83
2198	-0.69	-145.9	2649	3786	3973	3858	309.4	-14.9	214	2208	0.12	1.80	0.00	0.000	3078	0.245	0.061	2681	2709	3915	3972	3858	0	0	0	0	0	0	14.40	14.55	28.83
2513	-0.74	-145.9	2682	2710	3973	3859	345.8	-11.3	226	2516	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2709	3915	3972	3858	0	0	0	0	0	0	28.83	28.83	28.83
2813	-0.80	-145.9	2682	2710	3972	3859	379.0	-11.0	236	2821	0.00	1.90	0.00	0.000	260	0.000	0.110	2675	3791	3914	3971	3857	0	0	0	0	0	0	28.83	14.52	28.83
2890	-0.80	-145.9	2676	3792	3971	3858	388.4	-12.2	251	2898	0.00	1.83	0.00	0.000	1030	0.000	0.060	2675	2694	3914	3970	3858	0	0	0	0	0	0	28.83	14.57	28.83
3207	-0.84	-145.9	2675	2694	3971	3858	424.6	-11.4	264	3210	0.12	0.00	0.00	0.000	4102	0.139	0.000	2626	2694	3913	3969	3858	0	0	0	0	0	0	14.56	28.83	28.83
3506	-0.84	-145.9	2626	2695	3965	3858	466.4	-14.0	274	3517	0.00	1.95	0.00	0.000	260	0.000	0.108	2617	3785	3913	3969	3857	0	0	0	0	0	0	28.83	14.53	28.83
3606	-0.76	-145.9	2618	3785	3970	3857	481.9	-15.7	293	3615	0.17	1.75	0.00	0.000	3078	0.269	0.060	2656	2702	3913	3969	3857	0	0	0	0	0	0	14.45	14.59	28.83
3754	end dive: TARGET_DEPTH_EXCEEDED
state	3754	begin apogee
3757	-0.13	0.0	2663	2847	3970	3857	500.4	-11.9	302	3883	0.75	0.00	121.78	1.743	10246	0.238	0.000	2857	2847	3316	3337	3295	0	0	0	0	0	0	14.45	28.83	13.18
3885	end apogee: CONTROL_FINISHED_OK
state	3885	begin climb
3886	0.70	145.9	2857	2847	3334	3289	503.8	0.0	306	4017	0.93	0.00	121.30	1.639	10246	0.138	0.000	3128	2848	2719	2726	2713	0	0	0	0	0	0	13.83	28.83	13.06
4294	0.62	145.9	3128	2845	2726	2702	458.1	13.7	320	4301	0.00	2.45	0.00	0.000	516	0.000	0.072	3139	1439	2713	2724	2702	0	0	0	0	0	0	28.83	14.15	28.83
4340	0.62	145.9	3139	1439	2725	2702	451.9	12.7	329	4349	0.00	2.53	0.00	0.000	1030	0.000	0.097	3138	2843	2713	2724	2702	0	0	0	0	0	0	28.83	14.17	28.83
4659	0.53	145.9	3140	2844	2725	2702	406.3	14.4	342	4662	0.22	0.00	0.00	0.000	4102	0.265	0.000	3087	2844	2712	2724	2701	0	0	0	0	0	0	14.21	28.83	28.83
4958	0.54	163.4	3088	2844	2725	2701	372.4	11.0	352	4980	0.00	2.47	15.38	1.505	8708	0.000	0.070	3095	1446	2644	2656	2633	0	0	0	0	0	0	28.83	14.28	13.69
5009	0.62	192.2	3096	1447	2655	2634	366.9	10.3	361	5042	0.00	2.50	24.45	1.600	9222	0.000	0.097	3096	2845	2527	2537	2517	0	0	0	0	0	0	28.83	14.28	13.54
5361	0.62	192.2	3096	2845	2537	2512	323.0	12.5	380	5369	0.00	2.40	0.00	0.000	516	0.000	0.072	3105	1444	2524	2537	2512	0	0	0	0	0	0	28.83	14.33	28.83
5413	0.67	193.0	3106	1444	2538	2512	316.8	11.9	390	5423	0.00	2.47	0.00	0.000	1030	0.000	0.097	3105	2839	2524	2537	2512	0	0	0	0	0	0	28.83	14.33	28.83
5727	0.67	193.0	3112	2840	2538	2512	275.5	13.3	402	5737	0.00	2.38	0.00	0.000	516	0.000	0.072	3114	1439	2524	2537	2511	0	0	0	0	0	0	28.83	14.45	28.83
5761	0.72	199.3	3115	1439	2538	2512	271.2	11.6	408	5775	0.00	2.47	3.97	1.369	9222	0.000	0.097	3114	2839	2510	2521	2499	0	0	0	0	0	0	28.83	14.42	13.57
6074	0.72	199.3	3115	2840	2532	2495	229.6	12.9	432	6082	0.00	2.38	1.05	0.331	8708	0.000	0.068	3124	1443	2508	2527	2489	0	0	0	0	0	0	28.83	14.44	14.16
6121	0.72	201.1	3125	1443	2533	2493	223.8	11.8	441	6131	0.00	2.47	2.75	0.979	9222	0.000	0.097	3125	2841	2500	2517	2484	0	0	0	0	0	0	28.83	14.43	13.59
6427	0.72	201.1	3125	2842	2529	2489	185.2	12.1	472	6444	0.00	2.42	1.75	0.453	8708	0.000	0.071	3132	1451	2503	2522	2484	0	0	0	0	0	0	28.83	14.41	14.16
6473	0.72	209.7	3132	1452	2528	2491	179.9	11.4	479	6494	0.00	2.45	11.57	1.340	9222	0.000	0.097	3131	2839	2457	2471	2444	0	0	0	0	0	0	28.83	14.39	13.81
6789	0.74	240.6	3132	2839	2472	2444	144.4	10.2	512	6824	0.00	2.45	27.02	1.389	8708	0.000	0.069	3139	1440	2327	2332	2323	0	0	0	0	0	0	28.83	14.16	13.64
6888	0.84	276.6	3140	1440	2334	2323	134.6	9.9	530	6925	0.12	2.53	30.25	1.318	11270	0.129	0.098	3191	2846	2189	2189	2189	0	0	0	0	0	0	14.22	14.19	13.53
7229	0.84	276.6	3192	2845	2186	2179	87.9	13.7	566	7238	0.00	2.42	0.00	0.000	516	0.000	0.071	3200	1440	2181	2186	2177	0	0	0	0	0	0	28.83	14.23	28.83
7267	0.84	276.6	3201	1438	2185	2176	83.0	12.7	573	7276	0.00	2.53	0.00	0.000	1030	0.000	0.096	3200	2845	2180	2185	2176	0	0	0	0	0	0	28.83	14.22	28.83
7572	0.89	338.2	3201	2845	2184	2173	47.2	8.5	604	7606	0.00	2.42	26.05	0.329	8708	0.000	0.069	3209	1442	1937	1929	1946	0	0	0	0	0	0	28.83	14.23	14.11
7665	1.00	399.0	3210	1442	1933	1945	38.8	8.6	621	7701	0.00	2.53	27.45	0.316	9222	0.000	0.097	3209	2846	1690	1682	1699	0	0	0	0	0	0	28.83	14.26	14.06
7995	1.31	623.3	3209	2846	1686	1688	11.5	-0.3	656	8103	0.35	2.42	98.05	0.227	10756	0.083	0.073	3341	1449	771	756	787	0	0	0	0	0	0	14.30	14.21	14.09
8242	end climb: SURFACE_DEPTH_REACHED
state	8242	begin surface coast
8282	end surface coast: CONTROL_FINISHED_OK
state	8282	begin surface